| General › controller settings |
| Integer | p (from linMPCpartial) | 1 | number of controlled variables |
| Integer | m (from linMPCpartial) | 1 | number of manipulated variables |
| Integer | Nl (from linMPCpartial) | 1 | lower prediction horizon |
| Integer | Np (from linMPCpartial) | 1 | upper prediction horizon |
| Integer | Nu (from linMPCpartial) | 1 | control horizon |
| Real | Ts (from linMPCpartial) | 1 | sample time (/s) |
| General › cost function |
| Real | Q (from linMPCpartial) | identity(p) | weighting matrix |
| Real | R (from linMPCpartial) | identity(m) | weighting matrix |
| Model parameters › model parameters |
| ModelType | modelType (from linMPCpartial) | | |
| Integer | Nm | 2 | model horizon |
| Real | S | zeros(Nm, p, m) | step response matrix |
| Model parameters › disturbance handling |
| DisturbanceHandlingType | biasCompensation (from linMPCpartial) | 1 | compensate prediction bias |
| Integer | q (from linMPCpartial) | 0 | number of measurable disturbance variables |
| DisturbanceInputtype | DisturbanceInput (from linMPCpartial) | 0 | form of disturbance input |
| Constraints |
| ConstraintsHandlingType | constraints (from linMPCpartial) | 1 | constraints handling |
| Constraints › changes in manipulated variables |
| Integer | boundedDeltaUmin (from linMPCpartial) | zeros(0) | vector of indices of lower bounded variables |
| Real | deltaUmin (from linMPCpartial) | -1*ones(0) | vector of lower bounds |
| Integer | boundedDeltaUmax (from linMPCpartial) | zeros(0) | vector of indices of upper bounded variables |
| Real | deltaUmax (from linMPCpartial) | 1*ones(0) | vector of upper bounds |
| Constraints › manipulated variables |
| Integer | boundedUmin (from linMPCpartial) | zeros(0) | vector of indices of lower bounded variables |
| Real | Umin (from linMPCpartial) | -1*ones(0) | vector of lower bounds |
| Integer | boundedUmax (from linMPCpartial) | zeros(0) | vector of indices of upper bounded variables |
| Real | Umax (from linMPCpartial) | 1*ones(0) | vector of upper bounds |
| Constraints › controlled variables |
| Integer | boundedYmin (from linMPCpartial) | zeros(0) | vector of indices of lower bounded variables |
| Real | Ymin (from linMPCpartial) | -1*ones(0) | vector of lower bounds |
| Integer | boundedYmax (from linMPCpartial) | zeros(0) | vector of indices of upper bounded variables |
| Real | Ymax (from linMPCpartial) | 1*ones(0) | vector of upper bounds |
| Constraints › changes in controlled variables |
| Integer | boundedDeltaYmin (from linMPCpartial) | zeros(0) | vector of indices of lower bounded variables |
| Real | deltaYmin (from linMPCpartial) | -1*ones(0) | vector of lower bounds |
| Integer | boundedDeltaYmax (from linMPCpartial) | zeros(0) | vector of indices of upper bounded variables |
| Real | deltaYmax (from linMPCpartial) | 1*ones(0) | vector of upper bounds |
| Advanced › QP Solver settings |
| Real | rho (from linMPCpartial) | 100 | penelization of quadratic constraints violation |
| Real | cvio_start (from linMPCpartial) | 10 | start value of allowed constraints violation |
| Real | eps (from linMPCpartial) | 1E-5 | precision of the optimization |
| Real | mue (from linMPCpartial) | 5 | gain for increasing outer iteration variable |
| Real | beta (from linMPCpartial) | 0.2 | gain factor for step size adaption |
| General › initialization |
| Real | u_start (from linMPCpartial) | zeros(m) | start values for manipulated variables |
| Model parameters › disturbance model |
| Integer | Nmd | 2 | model horizon of measurable disturbances |
| Real | Sd | zeros(Nmd, p, q) | step response matrix of measurable disturbances |
