Artifact f7cb3162463104cc666940667c49ac5f39b8dd07acc61c6a6629f3f1e23be26f:

• File mtt/lib/control/PPP/ppp_cost.m — part of check-in [af3953deae] at 2021-03-01 11:39:42 on branch master — Cleanup repository after cvs2git conversion. (user: jeff@gridfinity.com, size: 451) [annotate] [blame] [check-ins using] [more...]
• File mttroot/mtt/lib/control/PPP/ppp_cost.m — part of check-in [182384e0d6] at 2001-04-02 15:02:35 on branch origin/master — Putting the PPP library under cvs (user: gawthrop@users.sourceforge.net, size: 451) [annotate] [blame] [check-ins using]

function [J J_U] = ppp_cost (U,x,W,J_uu,J_ux,J_uw,J_xx,J_xw,J_ww)

  ## usage: [J J_U] = ppp_cost (U,x,W,J_uu,J_ux,J_uw,J_xx,J_xw,J_ww)
  ## Computes the PPP cost function given U,x and W
  ## 
  ## J_uu,J_ux,J_uw,J_xx,J_xw,J_ww cost derivatives from ppp_lin

  ## Copyright (C) 1999 by Peter J. Gawthrop
  ## 	$Id$	

  J = U'*J_uu*U/2 + U'*(J_ux*x - J_uw*W) - x'*J_xw*W + x'*J_xx*x/2 + W'*J_ww*W'/2;
  J_U = J_uu*U + (J_ux*x - J_uw*W) ;

endfunction