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min i u u u i min u Ǧ ǡ max u Ǧ Ǥ max ( 1, 2,..., ) m d d
3.5. Simulation Analysis ǡ Ǥ ̵ ǡ Ǥ ȋ ǡ Ǥ ǡ Ȍ ǡ ǡ αͳ ͲͲ ̵ ǡ ͳ Ǥͷ ǡ Ǥ α ͺ ǡ α Ͷ Ǥ Ǥ ͵ Ǥ ͳͲǤ Ǥ ̵ ͳ Ǥ ͻǤ ʹǡ Ǥ ͺͷǡ Ǥ
120
MPC Our method
100
80
60
40
20
0 20 40 60 80 100 120 140 160 180 200 0
Fig. 3. Execution number
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