Not enough input arguments

Hi everybody, I am new to Matlab. I try running this example but I seem to run a problem that says not enough input arguments. here is the code. Anyone pls tell me which one I need to change to implement this. Thanks!

function J = cost_function(u)

u0 = u(1);

u1 = u(2);

u2 = u(3);

u3 = u(4);

u4 = u(5);

c = [1 0];

z1 = [0 0.4;-3.92 1.2];

z2 = [0;0.2];

x0 = [0;0];

x1 = z1*x0 + z2*u0;

x2 = z1^2*x0 + z1*z2*u0 + z2*u1;

x3 = z1^3*x0 + z1^2*z2*u0 + z1*z2*u1 + z2*u2;

x4 = z1^4*x0 + z1^3*z2*u0 + z1^2*z2*u1 + z1*z2*u2 + z2*u3;

x5 = z1^5*x0 + z1^4*z2*u0 + z1^3*z2*u1 + z1^2*z2*u2 + z1*z2*u3 + z2*u4;

J = (0.1-c*x0)^2 + (0.1-c*x1)^2 + (0.1-c*x2)^2 + (0.1-c*x3)^2 + (0.1-c*x4)^2

Answer 1

[Thomas]

Are you giving it u as an array? try running it like this.. works fine..

u=1:5;
cost_function(u)

output is

 J =
      0.14827
ans =
      0.14827