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

Algorithm 4

Robust FCS-MPC-MRP against variation.

	% Initialize the values of , and
	; ; ;
	For i = 1 to 27 do
	Calculate the current error and the summation based on equation (36);
	Calculate the modified permanent magnet flux using the equation (37);
	End