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.