Kmpc_setup.m

% Kmpc_setup.m
%
% Creates an instance of the Kmpc class bases on user arguments.
% Must have a Ksysid class in the workspace for this to work

Kmpc = Kmpc( Ksysid ,...
        'horizon' , 10 ,...
        'input_bounds' , [ -7*pi/8 , 7*pi/8 ] ,...
        'input_slopeConst' , 1e-1 ,...
        'input_smoothConst' , [] ,... % [1e-1] ,...
        'state_bounds' , [] ,...
        'cost_running' , 10 ,...   % 0.1
        'cost_terminal' , 100 ,...  % 100
        'cost_input' , 0.1 * [ 3e-2 , 2e-2 , 1e-2 ]' ,...    % 1e-1
        'projmtx' , Ksysid.model.C(end-1:end,:) ); %,...  % just end effector
%         'mpc_type' , 'nonlinear' ,...  % only need specify if you want to do nonlinear mpc with a bilinear model
%         'load_obs_horizon' , 40 ,...   % only needed for loaded models
%         'load_obs_period' , 20 );   % only needed for loaded models