costfunctionFmincon
objective function for the optimal control problems if solved with FMINCON
Contents
Syntax
Description
This function implements the objective function for the optimal control problem, for the case that the optimal control problems are solved with Matlab build-in function FMINCON
Input Arguments
y |
Parameter vector for the optimization problem (y = [x,u]) |
nx |
Number of system states x |
N |
Number of time steps for the optimal control problem |
xf |
desired final state at the end of the optimal control problem |
Q |
weighting matrix for the system states (dimension: [nx,nx]) |
R |
weighting matris for the control inputs (dimension: [nu,nu]) |
Output Arguments
cost |
value of the objective function |
See Also
convexInterpolationControl, optimalControlFmincon
References
- [1] Schuermann et al. (2017), Convex interpolation control with formal guarantees for disturbed and constrained nonlinear systems
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