Optimization Problem - Cost function

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 ?

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.

[rubindan]

I think this is more of an MPC question than a Matlab question.

Is there a particular reason to use a continuous-time model? If you are just "trying to design a mpc controller for trajectory control", you should use a discrete-time model, which will give you a conventional MPC cost function.

[Raj Kumar Muniyandi]

Hi Rubin,

Yes i do have discritized system dynamics of A,B. But i dont understand the part of conventional MPC cost function.

[Emmanouil Tzorakoleftherakis]

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.