intermediateCost
{
    name "intermediate cost quadratic"
    kind "quadratic"   
    type 0              ; 0 = intermediate, 1 = final

    weights
    {
      Q
      {
        scaling 1.0
        (0,0) 0
        (1,1) 0
        (2,2) 0
      }
      R
      {
        scaling 1
        (0,0) 100
        (1,1) 100
      }
      x_des
      {
        (0,0) 0.0
        (1,0) 0.0
        (2,0) 0.0

      }
    }
}


finalCost
{
    name "final cost quadratic"
    kind "quadratic"   
    type 1              ; 0 = intermediate, 1 = final

    weights
    {
      Q
      {
        scaling 1.0
        (0,0) 100
        (1,1) 100
        (2,2) 10

      }
      x_des
      {
        (0,0) 10.0
        (1,0) 9.0
        (2,0) 0.0

      }
      u_des
      {
        (0,0) 0.0
        (1,0) 0.0
      }
    }
}
