You need to use bsxfun
to extend your case to a vector case.
Code
dxcp = [1 2 3 6 10 20];
X = [2 5 9 18]
abs_diff_vals = abs(bsxfun(@minus,dxcp,X')); %%//'
[~,k] = min(abs_diff_vals,[],2);
X = dxcp(k)
Output
X =
2 5 9 18
X =
2 6 10 20