MPC Alternative Cost Function

2011 5 31
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How can I use the alternative cost function in model predictive control toolbox? Is it just necessary to specify Q and R weight matrices as positive-semi-definite matrices ?
Thanks,
João

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João
João 2011-6-1

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Its just necessary to enter with the matrices.
Typing mpcprops you can see:
Alternative weighting: using the syntax Weights.MV={R}, where R is a Nu x Nu
symmetric and positive semi-definite matrix, one can specify a matrix weight R,
which is constant over the prediction horizon (similar syntax for Weights.MVRate and Weights.OV)
Thanks.

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Walter Roberson
Walter Roberson 2011-5-31

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It looks like you need a total of three positive semi-definite matrices
http://www.mathworks.com/help/toolbox/mpc/ref/f1-9256.html
though defaults do apply if you omit one of them.

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João
João 2011-5-31
Walter, this is true. You're correct.
But I want to know if this is the only requirement.
I've specified the matrices and the MPCobj get it. But how can I know if it is using the alternative cost function?
Thanks.

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