Quadratic costs do not always work in MPC

@article{Mller2017QuadraticCD,
  title={Quadratic costs do not always work in MPC},
  author={Matthias Albrecht M{\"u}ller and Karl Worthmann},
  journal={Autom.},
  year={2017},
  volume={82},
  pages={269-277}
}
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