Optimization Problem - Cost function
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I am trying to design a mpc controller for trajectory control. But my cost function contains integration of sum of series. Can someone help me defining the cost function ?
![](https://www.mathworks.com/matlabcentral/answers/uploaded_files/294042/image.jpeg)
where T = 60;
N = 10.
My approach is i am trying to make calculate all the 4 terms inside the cost function and integrate it at last using the integral(fun,0,T) but i get a lot of error.
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Emmanouil Tzorakoleftherakis
2020년 5월 19일
Have a look at, e.g. this page for reference. You can use a discrete sum to approximate the integral after you calculate the inner sums.
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