“…Compared with linear quadratic regulators (LQR) that typically optimize the system performance around a given initial state, MPC optimizes at each time step, and results in higher flexibility in dealing with the constraints on inputs, outputs, and states. Several types of MPC methods including generalized predictive control (GPC) [24], nonlinear MPC (NMPC) [7], [25], [26], and adaptive predictive control [27] have been applied in the engine control field. However, the real-time implementation of MPC brings a high computation burden, due to a finite horizon optimal control problem that is solved in each sampling period [28].…”