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Objective function with summation

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I want to solve an MPC problem in matlab using fmincon function.
Im having hard time in figuring it out the way to write the objective function . Minimization is only wrt u ( x(t+1) = Ax(t)+Bu(t) )
Could someone please help else guide me to relevant sources
  5 Comments
SANDEEP SURAVARAPU
SANDEEP SURAVARAPU on 28 May 2021
@Torsten yes u is scalar for each t.
let me re-write the problem in clearer way :

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Accepted Answer

Torsten
Torsten on 28 May 2021
Choose u_0,...,u_N as unknowns.
In the objective function, calculate x_1,...x_(N+1) from A and u_0,...u_N.
Return u_0^2 + ... + u_N^2 + x_1.'*x_1 + ... + x_(N+1).'*x_(N+1)
That's all.
No constraints are necessary.

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