MPC toolbox: implementation of default cost function

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Where can I find the code of the default cost function in the Model Predictive Control toolbox?
I want to make a custom cost function, but I doubt I'd be able to do that from scratch. The easiest way to tackle this is probably to copy the code for the default cost function and edit that code, but I cannot find it anywhere. I have found the documentation on how to specify a custom cost function, but I'd rather take a look at the code for the default first before I build something from scratch.
Some context: I'm building a controller that penalizes a decrease in the MV's (Manipulated Variables), but doesn't penalize an increase in the MV's. For the weights, I can only tweak the "Weights.MVRate", which of course impacts both equally.

Accepted Answer

Sam Chak
Sam Chak on 3 Jul 2022
There shoud be a file called mpc_costcomputation. Please check if this is what you are looking for.
edit mpc_costcomputation
  1 Comment
Renate on 3 Jul 2022
This is indeed the file I was looking for, though a bit hard to find since for some reason the folder was not on the matlab path. Apparently it is located in:
C:\Program Files\MATLAB\R2022a\toolbox\mpc\mpc\@mpc\private
Thank you very much!

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