% True plant & true initial state
gpnum=[ 4.05];
gpden=[ 50 1];
sys1=ss(tf(gpnum,gpden , 'InputDelay',27));
gdnum=[ 1.20];
gdden=[ 45 1];
sys2=ss(tf(gdnum,gdden , 'InputDelay',27));
sys=[sys1 sys2];
% Initial state
x0=[0 0]';
Ts=5;     %Sample time
Tstop=300;  %Simulation time
model=c2d(sys,Ts); % prediction model
p=30; % output horizon
moves=4; % 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]};
clear MPCadd
MPCadd.mvindex=[1];
MPCadd.mdindex=[2];
open_system('ch17ex3.mdl')
sim('ch17ex3',Tstop)