MPC Toolbox : How to set "time optimal" Control problem using Custom Constrain function?

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I am trying to control some plant "time optimally" which means to reach target point in a minimal time.
However, I don't know how to put this "time" information into the cost function.
It seems MATLAB MPC toolbox only supports state, input and parameter for setting cost function.
I think it seems possible if I use parameter, but I don't know how.
Thank you for answering!


Emmanouil Tzorakoleftherakis
Unfortunately you cannot solve time-optimal problems with Model Predictive Control Toolbox because time cannot be used as a decision variable in the optimization. I have let the development team know about this and we will consider it for a future release. One workaround, although not equivalent, would be to use an error-based cost and weight the appropriate states as needed.

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