To add a bit to an above post, the formula I've most often seen is Maximum hull speed (displacement) equals The square root of the
water line length times that vessel's hulls K value. The K value for many
monohull cruising boats this may be about 1.34, but it will be very different for most catamarans - mostly higher K values which means a faster hull. My understanding is most cruising catamarans don't plane, they just have very high k values. However, one must also note that with less buoyancy, for a given length, adding weight to a
catamaran will greatly increase the wetted surface as well as other characteristics which will slow down potential speed more than a
monohull of comparable length.
Charles Kanter goes into how hull shape and other factors contribute to the K value as well as moving characteristics in his book: "Cruising in Catamarans"
As one approaches the theoretical maximum displacement speed, resistance increases more and more, so you get less speed gain for a given increase in power. At slower speeds,
wind and
current will play a larger role. I think it's hard to talk in terms of maximum efficiency without knowing more. Your most fuel efficient speed to cross an ocean in a power cat is probably to get into an ocean
current and prevailing
wind, throw out a
sea anchor and turn off the
engine. The most efficient speed for you will include how important your time is to you. What I think you really need to do is get out in your boat and test the fuel efficiency at different speeds and decide what trade-off you are happy with.
I know in a previous
outboard powered
pocket cruiser I had, I could go about 7 knots at full throttle with a 10 HP
outboard, but there was a lot of pressure on the
rudder and the boat did not behave well. At less than 3/4 throttle, I could still do 6 knots comfortably with a notable savings in fuel. That was my typical cruising speed under power.