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It's not really easy to grasp what the question is here. |
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Please open a new topic with a title that is convenient for other users seeking to solve this question, e.g. something with control rates and augmented dynamics in the title |
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I hope the discussion title and the code are sufficient for you. The problem is attached for your reference.
I did not add the last two terms of the objective function to the problem yet (for simplicity), but I believe the solver should recognize the constraints on the system variable.
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