Extended delay adaptability – disturbance response under τ = 3 and τ = 4 samples
| Controller | Peak deviation (τ = 3) | Time to attenuation (τ = 3) | Peak deviation (τ = 4) | Time to attenuation (τ = 4) |
|---|---|---|---|---|
| PID | 0.231 | >7 s | 0.278 | >8 s |
| MPC | 0.189 | 5.1 s | 0.247 | 6.8 s |
| ADRC | 0.152 | 4.3 s | 0.198 | 5.7 s |
| TB-MPC | 0.131 | 3.4 s | 0.176 | 4.9 s |
| RMPC | 0.078 | 1.9 s | 0.101 | 2.4 s |
| Controller | Peak deviation (τ = 3) | Time to attenuation (τ = 3) | Peak deviation (τ = 4) | Time to attenuation (τ = 4) |
|---|---|---|---|---|
| PID | 0.231 | >7 s | 0.278 | >8 s |
| MPC | 0.189 | 5.1 s | 0.247 | 6.8 s |
| ADRC | 0.152 | 4.3 s | 0.198 | 5.7 s |
| TB-MPC | 0.131 | 3.4 s | 0.176 | 4.9 s |
| RMPC | 0.078 | 1.9 s | 0.101 | 2.4 s |
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