# Objective function with summation

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SANDEEP SURAVARAPU on 28 May 2021
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
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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 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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SANDEEP SURAVARAPU on 28 May 2021
Thanks, this helps

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