control.optimal.quadratic_cost
- control.optimal.quadratic_cost(sys, Q, R, x0=0, u0=0)[source]
Create quadratic cost function.
Returns a quadratic cost function that can be used for an optimal control problem. The cost function is of the form
cost = (x - x0)^T Q (x - x0) + (u - u0)^T R (u - u0)
- Parameters
- sys
InputOutputSystem I/O system for which the cost function is being defined.
- Q2D array_like
Weighting matrix for state cost. Dimensions must match system state.
- R2D array_like
Weighting matrix for input cost. Dimensions must match system input.
- x01D array
Nominal value of the system state (for which cost should be zero).
- u01D array
Nominal value of the system input (for which cost should be zero).
- sys
- Returns
- cost_funcallable
Function that can be used to evaluate the cost at a given state and input. The call signature of the function is cost_fun(x, u).