%% Remove All Custom Constraints from MPC Controller
% Define a plant model and create an MPC controller.

plant = rss(3,2,2);
plant.D = 0;
MPCobj = mpc(plant,0.1);

%
% Define controller custom constraints.

E = [-1 2; 1 -2];
F = [0 1; 0 -1];
G = [0; 10];
setconstraint(MPCobj,E,F,G)

%
% Remove the custom constraints.

setconstraint(MPCobj)

% Copyright 2012 The MathWorks, Inc.