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

Figure 4

The evolution of current error : (a) 0.5, (b) 2, (c) 0.5, and (d) 2; coral: standard FCS-MP-ICF, red: robust FCS-MPC-DEC, and blue: robust FCS-MPC-MRP.

(a)

(b)

(c)

(d)