| Real[:,:] | H | | Hessian matrix |
| Real[:,:] | GhT | | |
| Real[:,:] | F | | |
| Real[:,:] | E | | |
| Real | S | | step response matrix |
| Real[:,:] | Ac | | |
| Real[:] | r | | reference trajectory |
| Real[:] | y | | current values of controlled variables |
| Real[:] | yPreMeasured | | measured controlled variables of last time step |
| Real[:] | b | | prediction bias |
| Real[:] | bpre | | prediction bias of last time step |
| Real[:] | d | | measurable disturbances |
| Real[:] | deltaUBuffer | | past values of delta_u |
| Integer | Nl | | lower prediction horizon |
| Integer | Np | | upper prediction horizon |
| Integer | Nu | | control horizon |
| Integer | Nm | | model horizon |
| Integer | p | | number of controlled variables |
| Integer | m | | number of manipulated variables |
| Integer | Nc | | number of constraints |
| Basic.ConstraintsRecord | rcdC | | |
| Real[:] | u_pre | | last controller output u(k-1) |
| Real[:] | deltaUpre | | last calculated trajectory |
| Basic.QPSolverRecord | SolverParams | | |