Valley, a minimum path between mountains. Photo by http://dreamicus.com

Using an MPC to control a system: The error function

Changing the control input

The cost function

Error dependent cost of a linear (J1), quadratic (J2) and cubic (J3) functions. Figure by author.

Stiffness of the cost

Effect of a in the shape of a quadratic function. Figure by author.

Adding and subtracting a constant

Effect of b in the shape of a quadratic function. Figure by author.

Closing thoughts

Chemical Engineer enthusiast in learning programming with python, data science and machine/deep learning skills

Get the Medium app

A button that says 'Download on the App Store', and if clicked it will lead you to the iOS App store
A button that says 'Get it on, Google Play', and if clicked it will lead you to the Google Play store