Scaling in the QP formulation

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Elias Prytz
Elias Prytz 2023-10-26
回答： Emmanouil Tzorakoleftherakis 2023-10-27
As a continuation on my previous question, why are the scaling factors not included in the weighting matrices here? Are the decision variables scaled beforehand in the controller?
(From https://se.mathworks.com/help/mpc/ug/optimization-problem.html)

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Emmanouil Tzorakoleftherakis
I think it's likely a typo. Scaling factors should be included in Wu, Wdu and Wy along with the individual weights.

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