Robust Multiobjective Model Predictive Control with Computation Delay Compensation for Electric Vehicle Applications Using PMSM with Multilevel Inverter

Algorithm 3

Robust FCS-MPC-MRP against variation.

	% Initialize the values of and
	=1;  = zeros(1 : 27);
	For i = 1 to 27 do
	Predict the modified and using equation (33) and (25);
	End
	Select and applied the optimal switching state ;