Question about CMC fast target settings

[Maria Isabel Orselli]

Hi all,

Maybe it is just a silly question. I think I'm making some confusion on understanding the CMC steps, but my question is:

When I use the CMC fast target I solve for an optimization problem where the cost function is:

"the sum of squared controls augmented by a set of equality constraints that requires the desired accelerations to be achieved within the tolerance set for the optimizer".

So, what does it mean the coordinates weights on the tracking tasks settings in this case?
Are those weights used on the first step of CMC when the PD control law is used to find the desired accelerations? If so, which is the equation that defines the optimization criteria in this step?

Thanks
Bel