Chapter 1
Command Reference

Commands Grouped by Function

Plotting and Matrix Information
mpcinfo	Outputs matrix type and attributes of system representation.
plotall	Plots outputs and inputs from a simulation run on one graph.
plotfrsp	Plots the frequency response of a system as a Bode plot.
ploteach	Makes separate plots of outputs and/or inputs from a simulation run.
plotstep	Plots the coefficients of a model in MPC step form.

Model Conversions
c2dmp	Converts state-space model from continuous time to discrete-time. (Equivalent to c2d in Control System Toolbox)
cp2dp	Converts from a continuous to a discrete transfer function in poly format.
d2cmp	Converts state-space model from discrete-time to continuous time. (Equivalent to d2c in Control System Toolbox)
mod2mod	Changes sampling period of a model in MPC mod format.
mod2ss	Converts a model in MPC mod format to a state-space model.
mod2step	Converts a model in MPC mod format to MPC step format.
poly2tfd	Converts a transfer function in poly format to MPC tf format.
ss2mod	Converts a state-space model to MPC mod format.
ss2step	Converts a state-space model to MPC step format.
ss2tf2	Converts state-space model to transfer function. (Equivalent to ss2tf in Control System Toolbox)
tf2ssm	Converts transfer function to state-space model. (Equivalent to tf2ss in Control System Toolbox)
tfd2mod	Converts a model in MPC tf format to MPC mod format.
tfd2step	Converts a model in MPC tf format to MPC step format.
th2mod	Converts a model in theta format (System Identification Toolbox) into MPC mod format.

Model Building -- MPC mod format
addmd	Adds one or more measured disturbances to a plant model.
addmod	Combines two models such that the output of one adds to the input of the other.
addumd	Adds one or more unmeasured disturbances to a plant model.
appmod	Appends two models in an unconnected, parallel structure.
paramod	Puts two models in parallel such that they share a common output.
sermod	Puts two models in series.

Controller Design and Simulation -- MPC step format
cmpc	Solves the quadratic programming problem to simulate performance of a closed-loop system with input and output constraints.
mpccl	Creates a model in MPC mod format of a closed-loop system with an unconstrained MPC controller.
mpccon	Calculates the unconstrained controller gain matrix for MPC.
mpcsim	Simulates a closed-loop system with optional saturation constraints on the manipulated variables.
nlcmpc	Simulink S-function block for MPC controller with input and output constraints (solves quadratic program).
nlmpcsim	Simulink S-function block for MPC controller with optional saturation constraints.

Controller Design and Simulation -- MPC mod format
scmpc	Solves the quadratic programming problem to simulate performance of a closed-loop system with input and output constraints.
smpccl	Creates a model in MPC mod format of a closed-loop system with an unconstrained MPC controller.
smpccon	Calculates the unconstrained controller gain matrix for MPC.
smpcest	Designs a state estimator for use in MPC.
smpcsim	Simulates a closed-loop system with optional saturation constraints on the manipulated variables.

Analysis
mod2frsp	Calculates frequency response for a system in MPC mod format.
smpcgain	Calculates steady-state gain matrix of a system in MPC mod format.
smpcpole	Calculates poles of a system in MPC mod format.
svdfrsp	Calculates singular values of a frequency response.

Utility Functions
abcdchkm	Checks dimensional consistency of (A,B,C,D) set. (Equivalent to abcdchk in Control System Toolbox)
dantzgmp	Solves quadratic programs.
dareiter	Solves discrete Riccati equation by an iterative method.
dimpulsm	Generates impulse response of discrete-time system. (Equivalent to dimpulse in Control System Toolbox)
dlqe2	Calculates state-estimator gain matrix for discrete systems.
dlsimm	Simulates discrete-time systems. (Equivalent to dlsim in Control System Toolbox)
mpcaugss	Augments a state-space model with its outputs.
mpcparal	Puts two state-space models in parallel.
nargchkm	Checks number of M-file arguments. (Equivalent to nargchk in Control System Toolbox)
mpcstair	Creates the stairstep format used to plot manipulated variables.
vec2mat	Converts a vector to a matrix.