Ablation study – contribution of each RMPC module
| Variant | MAE | Recovery time (s) | Output violations | ISU |
|---|---|---|---|---|
| Full RMPC | 0.0365 | 1.8 | 2 | 20.31 |
| w/o Observer | 0.0589 | 3.2 | 7 | 22.14 |
| w/o Fault Detection | 0.0512 | 4.0 | 9 | 21.87 |
| w/o Constraint Tightening | 0.0478 | 2.6 | 11 | 19.95 |
| w/o Horizon Adaptation | 0.0441 | 2.9 | 5 | 20.68 |
| Variant | MAE | Recovery time (s) | Output violations | ISU |
|---|---|---|---|---|
| Full RMPC | 0.0365 | 1.8 | 2 | 20.31 |
| w/o Observer | 0.0589 | 3.2 | 7 | 22.14 |
| w/o Fault Detection | 0.0512 | 4.0 | 9 | 21.87 |
| w/o Constraint Tightening | 0.0478 | 2.6 | 11 | 19.95 |
| w/o Horizon Adaptation | 0.0441 | 2.9 | 5 | 20.68 |
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