From 1f01b9317b706e1a158e5a757e3df3913d4ee2f2 Mon Sep 17 00:00:00 2001
From: Per Skarin <per.skarin@control.lth.se>
Date: Wed, 9 Sep 2020 20:22:35 +0000
Subject: [PATCH] Re-add mpc_costs which is input to TrueTime kernel

---
 init.m | 1 +
 1 file changed, 1 insertion(+)

diff --git a/init.m b/init.m
index 349ec5b..cce9599 100644
--- a/init.m
+++ b/init.m
@@ -13,6 +13,7 @@ rng(1);
 SysC = sysmodel();
 Qc = diag([1500 20 0]);
 Rc = 1;
+mpc_costs = [diag(Qc)' Rc];
 
 [Kc, Sc, Ec] = lqr(SysC, Qc, Rc);
 LQc = ss(SysC.A-SysC.B*Kc, SysC.B, SysC.C, 0);
-- 
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