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
of the prediction
horizon. Therefore setting model.x.penalty will NOT
penalize the final predicted state (i.e.,
). 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.
◀ |
filter_binary |
|
filter_softmax |
▶ |
© 2003-2013 Michal Kvasnica: STU Bratislava, michal.kvasnica@stuba.sk