penalty

Purpose

Penalizes the signal in the MPC cost function

Syntax


Description

This filter, which is enabled by default, allows to penalize a particular signal in the MPC cost function. The penalty function can be specified by setting the model.signal.penalty property to an instance of the Function class (see "help Function" for more information). Penalization of state variables is achieved by setting model.x.penalty, while model.u.penalty and model.y.penalty specify penalization of input and output variables, respectively.

Note that this filter only adds penalties to signals predicted at steps ../../../../../fig/mpt/modules/ui/@SystemSignal/filter_penalty1.png of the prediction horizon. Therefore setting model.x.penalty will NOT penalize the final predicted state (i.e., ../../../../../fig/mpt/modules/ui/@SystemSignal/filter_penalty2.png). To add a terminal state penalty, use the terminalPenalty filter (see "help SystemSignal/filter_terminalPenalty").

To disable penalization of a signal, set its penalty property to an empty matrix.


© 2003-2013 Michal Kvasnica: STU Bratislava, michal.kvasnica@stuba.sk