Solving a matrix with symbolic equations

Hello

I want to simplify a matrix equation

syms r y Q u R phi f1 f0 xk xk_1

y= f1*xk - f0* xk_1 + phi *u

simplify((r-y)'*Q*(r-y) + u'*R*u)

where all variables are vectors exept R Q phi are matrixes

any help?

please

[Torsten]

Depends on what you mean by "simplify". I wouldn't call it simpler than the expression (r-y)'*Q*(r-y) + u'*R*u if you expand the matrix-vector products.

[Husam]

thanx

I want to solve

this equation

j=(r-f1*xk - f0* xk_1 + phi *u )'*Q*(r-f1*xk - f0* xk_1 + phi *u ) + u'*R*u

and then find the derivatives for : u

[Torsten]

You say all variables are vectors. So what does f1*xk, f0*xk_1 and phi*u mean if all these variables are vectors ? Elementwise multiplication ?