Relationship between MPC processing time and sampling time

[wsefw]

OCP-solving-time: 2.45e-01 s, this is one of the times needed to compute the MPC control input u when running the code on my device. I noticed that you set the sampling time for the actual system in the source code to be 0.2s. Ideally, the OCP-solving-time should be much less than the sampling time, and it is assumed that the state of the actual system does not deviate significantly from the sampling point state during the control input computation period, otherwise the computed control input may not be suitable for the current state. Have you applied this code to actual robotic arm control for experimental validation? I look forward to hearing your views.