Hello. I start to use acados for MPC study.
I want to add final term cost,
for example, prediction horizon(N) = 20, i want to add x_n * P * x_n.
but, I wonder how to define x_n(final time state) ?
Hello. I start to use acados for MPC study.
I want to add final term cost,
for example, prediction horizon(N) = 20, i want to add x_n * P * x_n.
but, I wonder how to define x_n(final time state) ?