| General › controller settings |
| Integer | p | 1 | number of controlled variables |
| Integer | m | 1 | number of manipulated variables |
| Integer | Nl | 1 | lower prediction horizon |
| Integer | Np | 1 | upper prediction horizon |
| Integer | Nu | 1 | control horizon |
| Real | Ts | 1 | sample time (/s) |
| General › cost function |
| Real | Q | identity(p) | weighting matrix |
| Real | R | identity(m) | weighting matrix |
| Model parameters › model parameters |
| ModelType | modelType | | |
| Model parameters › disturbance handling |
| DisturbanceHandlingType | biasCompensation | 1 | compensate prediction bias |
| Integer | q | 0 | number of measurable disturbance variables |
| DisturbanceInputtype | DisturbanceInput | 0 | form of disturbance input |
| Constraints |
| ConstraintsHandlingType | constraints | 1 | constraints handling |
| Constraints › changes in manipulated variables |
| Integer | boundedDeltaUmin | zeros(0) | vector of indices of lower bounded variables |
| Real | deltaUmin | -1*ones(0) | vector of lower bounds |
| Integer | boundedDeltaUmax | zeros(0) | vector of indices of upper bounded variables |
| Real | deltaUmax | 1*ones(0) | vector of upper bounds |
| Constraints › manipulated variables |
| Integer | boundedUmin | zeros(0) | vector of indices of lower bounded variables |
| Real | Umin | -1*ones(0) | vector of lower bounds |
| Integer | boundedUmax | zeros(0) | vector of indices of upper bounded variables |
| Real | Umax | 1*ones(0) | vector of upper bounds |
| Constraints › controlled variables |
| Integer | boundedYmin | zeros(0) | vector of indices of lower bounded variables |
| Real | Ymin | -1*ones(0) | vector of lower bounds |
| Integer | boundedYmax | zeros(0) | vector of indices of upper bounded variables |
| Real | Ymax | 1*ones(0) | vector of upper bounds |
| Constraints › changes in controlled variables |
| Integer | boundedDeltaYmin | zeros(0) | vector of indices of lower bounded variables |
| Real | deltaYmin | -1*ones(0) | vector of lower bounds |
| Integer | boundedDeltaYmax | zeros(0) | vector of indices of upper bounded variables |
| Real | deltaYmax | 1*ones(0) | vector of upper bounds |
| Advanced › QP Solver settings |
| Real | rho | 100 | penelization of quadratic constraints violation |
| Real | cvio_start | 10 | start value of allowed constraints violation |
| Real | eps | 1E-5 | precision of the optimization |
| Real | mue | 5 | gain for increasing outer iteration variable |
| Real | beta | 0.2 | gain factor for step size adaption |
| General › initialization |
| Real | u_start | zeros(m) | start values for manipulated variables |
