| Real[:,:] | H | | Hessian matrix |
| Real[:,:] | GhT | | |
| Real[:,:] | A | | discrete time control system matrix A, inaugmented |
| Real[:,:] | B | | discrete time control system matrix B, inaugmented |
| Real[:,:] | C | | discrete time control system matrix C, inaugmented |
| Real[:,:] | D | | discrete time control system matrix D, inaugmented |
| Real[:,:] | F | | |
| Real[:,:] | E | | |
| Real[:,:] | Ac | | |
| Real[:] | r | | reference trajectory |
| Real[:] | x | | current values of state variables, augmented |
| Real[:] | u_pre | | last controller output u(k-1) |
| Real[:] | d | | measurable disturbances |
| Integer | Nl | | lower prediction horizon |
| Integer | Np | | upper prediction horizon |
| Integer | Nu | | control horizon |
| Integer | p | | number of controlled variables |
| Integer | m | | number of manipulated variables |
| Integer | n | | number of state variables |
| Basic.ConstraintsRecord | rcdC | | |
| Basic.QPSolverRecord | SolverParams | | |