MPC Alternative Cost Function

How can I use the alternative cost function in model predictive control toolbox? Is it just necessary to specify Q and R weight matrices as positive-semi-definite matrices ?

Thanks,

João

Answer 1

[João]

Its just necessary to enter with the matrices.

Typing mpcprops you can see:

 Alternative weighting: using the syntax Weights.MV={R}, where R is a Nu x Nu                           
    symmetric and positive semi-definite matrix, one can specify a matrix weight R,                        
    which is constant over the prediction horizon (similar syntax for Weights.MVRate and Weights.OV)

Thanks.

Answer 2

[Walter Roberson]

It looks like you need a total of three positive semi-definite matrices

http://www.mathworks.com/help/toolbox/mpc/ref/f1-9256.html

though defaults do apply if you omit one of them.

[João]

Walter, this is true. You're correct.

But I want to know if this is the only requirement.

I've specified the matrices and the MPCobj get it. But how can I know if it is using the alternative cost function?

Thanks.