%% Set MPC Signal Types and Create MPC Controller
% Create a four-input, two output state-space plant model. By default all input signals are manipulated variables and all outputs are measured outputs.

plant = rss(3,2,4);
plant.D = 0;

% Configure the plant input/output channels such that:
%
% The second and third inputs are measured disturbances.
% The fourth input is an unmeasured disturbance.
% The second output is unmeasured.

plant = setmpcsignals(plant,'MD',[2 3],'UD',4,'UO',2);

%
% Create an MPC controller.

MPCobj = mpc(plant,1);

% Copyright 2012 The MathWorks, Inc.