%% Model
model=tf([1 -.5],[1 (1.8*pi) 0],'Inputdelay',.150);
%%
% Controller Objects
Ts=.1;    %Sampling time
% MV=struct('Min',-1,'Max',1);
p=20;
m=3;
% mpc1=mpc(model,Ts,p,m,[]);
%%
% Plant (which has been mismatched)
plant=tf([1 -.5],[1 (1.8*pi) 0],'Inputdelay',.150);
%%
% Implementation
T = 5000;
t=-10*pi:.01:10*pi;
f=sin(.2*t);
[k0,k]=size(t);
r = f';
% sim(MPCobj, T, r);
mpcobj = mpc(plant,m,p,1);
% [y, t, u] = sim(MPCobj, T, r);
% plot(t, y)
% MPCopts = mpcsimopt;
% MPCopts.Constraints = 'off';
% sim(mpc1, T, r)
% Plant = STR; 
% %5*CSTR;
% MPCopts.Model = Plant;
sim(mpcobj, T, r)