I'm currently implementing a Model Predicitve Control (MPC) for my mobile robot and i'm using this paper as a reference. I'm currently having the problem of understanding the augmentation of a matrix mentioned in this paper (it's been a while since I worked with matrices). We have these two matrices
which should be augmented into these matrices
The first one is easy, it's just calculating A with the corresponding parameter k and append them. But for B I don't undertstand how this should be done. Here A is a 3x3 matrix and B is 3x2 matrix. First I cannot multiply them because of dimension mismatch and secondly even if B would be a 1x3 matrix how would I resize B(k|k) to fit in there?