Re: Formula problema ottimizzazione

Puoi provare così:

`\begin{equation}\label{eq:MPC3}
J_{t}^*(x(t)) = min_{U_{t\rightarrow t+N|t}} J{t}(x(t),U_{t\rightarrow t+N|t}) \triangleq p(x_{t+N|t})+ \sum_{k=0}^{N-1} q(x_{t+N|t}, u_{t+N|t})
\end{equation}
\begin{eqnarray*}
\text{subj. to} & \qquad & x_{t+k+1|t} = A x_{t+k|t} + B u_{t+k|t}, k = 0, \ldots, N-1\\
&& x_{t+k|t} \in X , u_{t+k|t} \in U, k= 0,\ldots, N-1\\
&& x_{t+N|t} \in X_{f}\\
&& x_{t|t} = x(t)
\end{eqnarray*}`