cvx _begin quiet
variable u_N(4*N)
minimize ( (1/2)*quad_form(u_N,H) + d'*u_N )
u_N <= u_limit*ones(4*N,1);
u_N >= -u_limit*ones(4*N,1);
Z*u_N <= -P*x0 + x_lim_vec_full;
Z*u_N >= -P*x0 - x_lim_vec_full;
cvx_end
这里有错误吗?