Initially, Sheldon predicts that the optimal trajectory involves attending the baptism. The predicted output matches the reference trajectory perfectly ($y \approx r$). However, a disturbance enters the system: Mee-Maw. Mee-Maw represents a step-change disturbance $d(k)$ that Sheldon’s model did not account for adequately.
At time step $k$ (morning), Sheldon runs an optimization over a horizon $N_p$ (the duration of the day).
The general discrete-time MPC algorithm solves an optimization problem at each time step $k$: $$ \min_u J(k) = \sum_i=1^N_p ||y(k+i|k) - r(k+i)||^2 + \sum_i=0^N_c-1 ||\Delta u(k+i)||^2 $$ Subject to: $$ x(k+1) = f(x(k), u(k)) $$ $$ u_min \leq u \leq u_max $$
Sheldon’s primary objective function is to minimize the "Distance from Mary’s Approval." $$ J = (Mary's\ Disappointment)^2 + \lambda (Risk\ of\ Jail) $$
Young Sheldon Season 6, Episode 1, "Four Hundred Cartons of Undeclared Cigarettes and a Helping of Homeopathic Phenobarbital," deals with the immediate aftermath of Meemaw and Georgie's arrest for smuggling cigarettes across the Mexican border. The episode highlights the Cooper family's financial strain and Mary’s growing alienation from her church following the arrest and Georgie's pregnancy news. AI can make mistakes, so double-check responses Copy Creating a public link... You can now share this thread with others Good response Bad response Show all
While the title is a mouthful, fans have been buzzing online about a specific three-letter acronym: .