%% Retrieve Input Disturbance Model
% Define a plant model with no direct feedthrough.

plant = rss(3,1,2);
plant.D = 0;

%
% Set the first input signal as a manipulated variable and the second input as an unmeasured disturbance.

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

%
% Create an MPC controller for the defined plant.

MPCobj = mpc(plant,0.1);

%
% Extract the input disturbance model.

indist = getindist(MPCobj);

% Copyright 2012 The MathWorks, Inc.