Optimized Model Predictive Controller Using Multi-Objective Whale Optimization Algorithm for Urban Rail Train Tracking Control.

When conditions δ ̇ t ≥ 0 , δ ( t ) ≠ 0 are fulfilled, the deviation from the setpoint in the system output shows an increasing trend, indicating that the system output requires a relatively long time to reach the setpoint.

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When condition δ ̇ t < 0 occurs, the deviation from the setpoint in the system output shows a decreasing trend, and the system response time is calculated using formula δ t δ ̇ t .

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