%% Retrieve Input Disturbance Model Channels with Default Integrated White Noise
% Define a plant model with no direct feedthrough.

plant = rss(3,1,3);
plant.D = 0;

%
% Set the first input signal as a manipulated variable and the other two inputs as unmeasured disturbances.

plant = setmpcsignals(plant,'MV',[1],'UD',[2 3]);

%
% Create an MPC controller for the defined plant.

MPCobj = mpc(plant,0.1);

%
% Extract the default output disturbance model.

[indist,channels] = getindist(MPCobj);

%
% Check which input disturbance channels have integrated white noise added by default.

channels

% An integrator has been added only to the first unmeasured input disturbance. The other input disturbance uses a static unity gain to preserve state observability.
% Copyright 2012 The MathWorks, Inc.