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

Table 4

Comparison of the control performances under different controls.

Parameter	Variation	Control			(%)			THD
									−50%	Standard FCS-MPC-ICF	0.4892	0.76	7.05	1.60	21.96	4.63	29.06
Robust FCS-MPC-DEC	0.0098	0.23	6.68	9.83	14.70	3.68	27.58
Robust FCS-MPC-MRP	0.0100	0.25	6.79	1.22	18.80	3.73	28.26
200%	Standard FCS-MPC-ICF	0.5740	4.28	8.31	1.85	39.41	6.35		36.16
	Robust FCS-MPC-DEC	0.1297	0.75	7.16	4.19	31.57	4.68		35.23
	Robust FCS-MPC-MRP	0.1306	0.76	7.33	7.71	33.20	4.71		35.31
	−50%	Standard FCS-MPC-ICF	0.3199	0.75	6.95	2.28	29.47	4.07	28.32
		Robust FCS-MPC-DEC	0.0124	0.28	6.81	1.94	25.66	3.45	25.70
		Robust FCS-MPC-MRP	0.0136	0.38	6.95	1.94	27.59	3.59	26.07
	200%	Standard FCS-MPC-ICF	0.5037	2.43	8.23	2.31	47.80	6.01	70.84
		Robust FCS-MPC-DEC	0.0940	0.50	7.06	9.83	34.21	4.45	32.55
		Robust FCS-MPC-MRP	0.1010	0.68	7.23	1.18	36.69	4.51	32.71