Solving a matrix with symbolic equations
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Hello
I want to simplify a matrix equation
syms r y Q u R phi f1 f0 xk xk_1
y= f1*xk - f0* xk_1 + phi *u
simplify((r-y)'*Q*(r-y) + u'*R*u)
where all variables are vectors exept R Q phi are matrixes
any help?
please
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