How to add a terminal cost to the objective function

Hi, I am trying to add a terminal cost to the objective function that is only state dependent, I tried doing this:

function objectiveFunctions()
    R = [0, 0, 0, 0, 0];
    Q = [10, 10, 10, 10, 10, 10, 10, 10, 10, 10]
    tar = [...] % Some Value
    F = u1*R(1)*u1 + u2*R(2)*u2 + u3*R(3)*u3 + u4*R(4)*u4 + u5*R(5)*u5;
    F = F + (q1-tar(1))*Q(1)*(q1-tar(1)) + (q2-tar(2))*Q(2)*(q2-tar(2)) + (q3-tar(3))*Q(3)*(q3-tar(3)) + (q4-tar(4))*Q(4)*(q4-tar(4)) + (q5-tar(5))*Q(5)*(q5-tar(5));
    F = F + (dq1-tar(6))*Q(6)*(dq1-tar(6)) + (dq2-tar(7))*Q(7)*(dq2-tar(7)) + (dq3-tar(8))*Q(8)*(dq3-tar(8)) + (dq4-tar(9))*Q(9)*(dq4-tar(9)) + (dq5-tar(10))*Q(10)*(dq5-tar(10));
    [f, ~, fz, fzi, ~]  = computeGradients(F,z,empty);

    matlabFunction(f,fz,fzi,...
        'file','autoGen_obj_quadraticCost2.m',...
        'vars',{'q1','q2','q3','q4','q5','dq1','dq2','dq3','dq4','dq5','u1','u2','u3','u4','u5'});        
end

and in the objective function I gave to the problem I did this

dObj_end = autoGen_obj_quadraticCost2(x(1,end),x(2,end),x(3,end),x(4,end),x(5,end),x(6,end),x(7,end),x(8,end),x(9,end),x(10,end),u(1,end),u(2,end),u(3,end),u(4,end),u(5,end));
dObj_pre = autoGen_obj_quadraticCost(x(1,1:end-1),x(2,1:end-1),x(3,1:end-1),x(4,1:end-1),x(5,1:end-1),x(6,1:end-1),x(7,1:end-1),x(8,1:end-1),x(9,1:end-1),x(10,1:end-1),u(1,1:end-1),u(2,1:end-1),u(3,1:end-1),u(4,1:end-1),u(5,1:end-1));
dObj = [dObj_pre, dObj_end];

Where autoGen_obj_quadraticCost is the similar to autoGen_obj_quadraticCost2 with the only difference being the R matrix is not zeros. I tried this but at the end the control just blows up since I suppose the cost function defined in autoGen_obj_quadraticCost2 also is used to calculate the cost on states other than the last state.

Can anyone help me on this matter?

Thanks in advance!

No repository file or test is named. Start by tracing how the supplied objective function and autoGen_obj_quadraticCost2 are consumed at the terminal and earlier states, then inspect the objective-function API for separate terminal-cost handling. Done means a state-only terminal cost is applied only at the final state without causing the control solution to blow up.