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Custom objective function for MPC (Model Predicitve Control)

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Sula yerumbayev
Sula yerumbayev 2018-3-13
Apart from built in cost(objective) functions original and alternative one in MPC, can someone explain in human words how supply own cost function to MPC. I though this will be helpful, but it is not( https://www.mathworks.com/help/mpc/ug/specify-generic-cost-function.html

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