%% Specify Custom Hard Constraints for MPC Controller
% Create a third-order plant model with two manipulated variables and two measured outputs.

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

%
% Create an MPC controller for this plant.

MPCobj = mpc(plant,0.1);

% Assume that you have two hard constraints.
% \begin{array}{l}
% {u_1} + {u_2} \le 5\\
% {y_1} + y_2 \le 10
% \end{array}
%
% Specify the constraint matrices.

E = [1 1; 0 0];
F = [0 0; 1 1];
G = [5;10];

%
% Specify the constraints as hard by setting V to zero for both constraints.

V = [0;0];

%
% Set the constraints in the MPC controller.

setconstraint(MPCobj,E,F,G,V)

% Copyright 2012 The MathWorks, Inc.