clc 
clear all
[model,NY,NU,delaym,Ts]=model_system; 
T=800;
delayp=delaym;
plant=model;
par=[7,1,6,5,Ts,0,0,1];
alfa=.3*eye(NY); gama=0.01*eye(NU);
q=eye(NY);
[ys,y,ym,u,du,NoiseVariance,G,A,B]=gpc(NU,NY,plant,delayp,model,delaym,par,alfa,gama,q,T);