I am trying to model the below problem using Matlab-CVX:

Here, x, y and u are variables. My code is:

for i = 1: K

cvx_begin

cvx_solver sdpt3

variable u(1,K)

variable x(2,K)

variable y(1,K)

```
f = 10 * (y(1,i) - y_ref)^2 + (u(1,i))^2;
disp(f);
minimize(f)
subject to
x(1,i+1) == A * x(1,i) + B * u(1,i);
y(1,i) == C * x(1,i);
-1 <= u(1,i) <= 1;
cvx_end
```

end

However, I am getting error that index exceeds matrix dimensions. I can’t see where it’s causing the problem. Any help is appreciated. Thanks.