Optimization Problem - Cost function
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I am trying to design a mpc controller for trajectory control. But my cost function contains integration of sum of series. Can someone help me defining the cost function ?
where T = 60;
N = 10.
My approach is i am trying to make calculate all the 4 terms inside the cost function and integrate it at last using the integral(fun,0,T) but i get a lot of error.
3 个评论
rubindan
2020-5-19
I think this is more of an MPC question than a Matlab question.
Is there a particular reason to use a continuous-time model? If you are just "trying to design a mpc controller for trajectory control", you should use a discrete-time model, which will give you a conventional MPC cost function.
Raj Kumar Muniyandi
2020-5-19
Emmanouil Tzorakoleftherakis
2020-5-19
Have a look at, e.g. this page for reference. You can use a discrete sum to approximate the integral after you calculate the inner sums.
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2020-5-19
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