# costFunction

Cost function of the optimal control problem

## Contents

- Syntax
- Description
- Input Arguments
- Output Arguments
- See Also

## Syntax

cost = costFunction(obj,y)

## Description

Cost function of the optimal control problem - implements the (possibly time-varying) nominal stage and terminal cost as well as the exact penalty term for the softened input constraints.

## Input Arguments

obj | instance of class optimalControl
y | vector of optimization variables (double array of dimension [obj.idxVars.nVars,1])

## Output Arguments

cost | value of cost function evaluated at y (double)

## See Also

`optimalControl`

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