how to choose the alternate cost function in MPC command line window? and can we know which cost function MPC block is considering?

hi

I'm using the MPC for reference tracking and able to see the value of cost function. but I'm unable to check the type of cost function used by the block and unable to change it to alternative cost function..can we include new cost function?

will you please suggest me.. your suggestions will be helpful to me a lot

thank you....

Answer 1

[Emmanouil Tzorakoleftherakis]

By default, MPC controller will use the standard cost. If you want to use the alternate cost, you can see how to do it in this example.

[Sarala Gurijala]

so just by giving the weight matrices as [Q]' x [Q], we can choose the alternate cost function. Is it correct sir? then how can we include alternate cost function while doing with 'mpcmove' command? your reply will be helpful to me

thank you sir

[Emmanouil Tzorakoleftherakis]

Mpcmove command will automatically use the alternate cost when you provide the weights as mentioned. No need to do anything additional

[Sarala Gurijala]

Thank you for your inputs sir..