From 3904c71a4185b8f0df8267e642f1576948660731 Mon Sep 17 00:00:00 2001
From: maximilianschaller <79449026+maxschaller@users.noreply.github.com>
Date: Sun, 23 Apr 2023 14:23:50 +0200
Subject: [PATCH] Update MPC.ipynb

---
 examples/MPC.ipynb | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/examples/MPC.ipynb b/examples/MPC.ipynb
index a2a2921..3a35274 100644
--- a/examples/MPC.ipynb
+++ b/examples/MPC.ipynb
@@ -57,7 +57,7 @@
     "x_init = cp.Parameter(n, name='x_init')\n",
     "\n",
     "# define objective\n",
-    "objective = cp.Minimize(cp.sum_squares(Psqrt@X[:,H-1]) + cp.sum_squares(Qsqrt@X[:,:H]) + cp.sum_squares(Rsqrt@U))\n",
+    "objective = cp.Minimize(cp.sum_squares(Psqrt@X[:,H]) + cp.sum_squares(Qsqrt@X[:,:H]) + cp.sum_squares(Rsqrt@U))\n",
     "\n",
     "# define constraints\n",
     "constraints = [X[:,1:] == A@X[:,:H]+B@U,\n",