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how i can minimiza a cost function by model predictive control?

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fariba
fariba 2015-5-2
my problem is ,i have a cost function and the aim is minimizing that in mpc.how i have to write it? this is my cost function J=sum((y1(k).*u1(k))+(r.*(u1(k)).^2)+(q.*(y2(k)).^2)) how i have to write it for minimizing by mpc?

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