Getting a Suitable Terminal Cost and Maximizing the Terminal Region for MPC

Table 1

Comparison of the total costs.

Initial points	[^2−1]	[^1−2]	[2^−1]	[1^−1]
(A)	34.7915	18.2460	16.4528	7.9936
(B)	37.0120	20.6714	23.2854	23.8467