costFunction
Cost function of the optimal control problem
Contents
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
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