I have an MPC controller, built with the following general format (i have not included the nonlinear equations because they are relatively long):
nx = 11;
ny = 3;
nu = 13;
nlobj = nlmpc(nx,ny,nu);
I want to use this controller as part of a simulation where a preliminary value of the control values U(5:13) for each time step is to be given to the controller i.e. I want to specify a cost function where given the reference controls (using subscripts U), the cost is given by:
This only considers the control values themselves. I know that:
includes ref, which is the output reference values, but what about the input reference values?