Scaling in the QP formulation

As a continuation on my previous question, why are the scaling factors not included in the weighting matrices here? Are the decision variables scaled beforehand in the controller?

(From https://se.mathworks.com/help/mpc/ug/optimization-problem.html)

Answer 1

[Emmanouil Tzorakoleftherakis]

I think it's likely a typo. Scaling factors should be included in Wu, Wdu and Wy along with the individual weights.