Confused with MPC basic example

[Hamid Manoochehri]

Hello,

I am using MPC in my project,

I am trying to use yalmip for this purpose. So I started studying the "MPC basics" example, but I can't understand its objective function.

I learned that the basic obj.function in mpc should be in form of: Squared Sum of differences between predicted outputs and references across the prediction horizon, however in the "MPC basics" example, Sum( norm(Q*x,1)+norm(R*u{k}) ) is used as the obj.function. i can't adapt these two together

I would be grateful if you help me with this

Sincerely

Hamid

[Johan Löfberg]

Then you learned wrong. The objective is anything you want to minimize.

[Hamid Manoochehri]

Oh thank you,

I am new to mpc

I understood

thanks a lot

Sincerely

Hamid