function ConstraintsMatrix
  input Basic.ConstraintsRecord rcdC;
  input Real[:, :] P "Prediction Matrix";
  input Integer p = 1 "number of controlled variables";
  input Integer m = 1 "number of manipulated variables";
  input Integer n = 1 "number of state variables";
  input Integer Nl = 1 "lower prediction horizon";
  input Integer Np = 1 "upper prediction horizon";
  input Integer Nu = 1 "control horizon";
  input Real A[:, :] "discrete time control system matrix A, inaugmented";
  input Real B[:, :] "discrete time control system matrix B, inaugmented";
  input Real C[:, :] "discrete time control system matrix C, inaugmented";
  input Real D[:, :] "discrete time control system matrix D, inaugmented";
  output Real[rcdC.Nc, m * Nu] Ac;
end ConstraintsMatrix;

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