# writeFminconFilesReachsetMPC

Generate files for MPC optimal control using fmincon

## Contents

- Syntax
- Description
- Input Arguments
- See Also

## Syntax

writeFminconFilesReachsetMPC(path,benchmark,Opts)

## Description

This function generates the cost function and the constraints for the optimal control problems for Model Predictive Control as well as the corresponding derivatives using symbolic computing.

## Input Arguments

path | path to the root directory of the control algorithm
benchmark | name of the selected benchmark
Opts | a structure containing following options
.nx | number of system states
.nu | number of system inputs
.nw | number of disturbances
.N | number of time steps
.Ninter | number of intermediate time steps
.termReg | struct storing the properties of the terminal region polytope

## See Also

`reachsetMPC`, writeAcadoFilesMPC

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