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Since MPC parameters influence control performance, we conducted a sensitivity analysis. We tested different prediction lengths ranging from 50s to 250s. Within the same prediction length, we also varied the sampling times for the planning and operating layers in Hierarchical MPC.
In terms of energy consumption, Hierarchical MPC is more energy efficient. For example, at a 250s prediction length, energy consumption is reduced by about 10%. Longer prediction horizons in Nonlinear MPC lead to higher energy consumption, whereas Hierarchical MPC generally benefits from longer horizons.
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IEEE/ICACT20250244 Slide.17
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