Scaling in the QP formulation
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Elias Prytz
on 26 Oct 2023
Answered: Emmanouil Tzorakoleftherakis
on 27 Oct 2023
As a continuation on my previous question, why are the scaling factors not included in the weighting matrices here? Are the decision variables scaled beforehand in the controller?
![](https://www.mathworks.com/matlabcentral/answers/uploaded_files/1521881/image.png)
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Emmanouil Tzorakoleftherakis
on 27 Oct 2023
I think it's likely a typo. Scaling factors should be included in Wu, Wdu and Wy along with the individual weights.
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