Is there any way to graph the MPC cost function?

Hello, I want to graph the MPC cost function and see how it converges. Does MPC object give you the information about the cost function data? How about MPC designer App? Is there any section in which I can see the cost function convergence graph? Thanks

[Sam Chak]

@Milad Shojaee,

Do you have the mathematical formula for the MPC cost function? If the formula is a mathematical function of the states and inputs, , then I believe you can manually plot it out with plot(t, J). Have you tried that?

Answer 1

[Emmanouil Tzorakoleftherakis]

If you are designing the controller in MATLAB, all 'move' functions have an info argument which containts the cost value (see here).

Same goes for the blocks in Simulink, see for example here.