% True plant & true initial state
gpnum=[ 4.05];
gpden=[ 50 1];
sys=ss(tf(gpnum,gpden, 'InputDelay',27));
% sys=ss(tf(1,[1 0 0]));
A=sys.a;
B=sys.b;
C=sys.c;
D=sys.d;
% Initial state
x0=[0 ]';
Ts=5;     %Sample time
Tstop=300;  %Simulation time
model=c2d(sys,Ts); % prediction model
p=30; % output horizon
moves=2; % Control move horizon

umin=-Inf; umax=Inf; dumin=-Inf; dumax=Inf;
ymin=-Inf; ymax=Inf; % output limits

limits={umin,umax,dumin,dumax,ymin,ymax};
weights={[0],[1],[1]};
open_system('ch17ex2.mdl')
sim('ch17ex2',Tstop)