% SISO system example ch17ex1_script
%
gpnum=[-54.68 4.05];
gpden=[ 675 63.5 1 ];
sys=tf(gpnum,gpden);
model1=ss(sys);



Ts=5;     %Sampling time
Tstop=60;  %Simulation time

% prediction model
model=c2d(model1,Ts);

p=30;
moves=3;

umin=-Inf;
umax=Inf;
dumin=-Inf;
dumax=Inf;
ymin=-Inf;
ymax=Inf;

limits={umin,umax,dumin,dumax,ymin,ymax};
weights={[0.001],[1],[1]};

clear MPCadd
MPCadd.mvindex=[1];

open_system('ch17ex1.mdl')
sim('ch17ex1',Tstop)