mpc2 = figure('Name',Figure_Name,'Position',[1 1 scrsz(3) scrsz(4)]);
[p1,p2] = plotall_edit(y,u,ts);
title(p1,sprintf('ywt = %d,   uwt = %d,   Input horizon = %d,   Pred. horizon = %d',ywt,uwt,hM,hP),'FontSize',14)
title(p2,sprintf('lower bound = %d, upper bound = %d',umin,umax),'FontSize',14)
xlabel(p1,'Time (sec)','FontSize',14)
xlabel(p2,'Time (sec)','FontSize',14)
ylabel(p1,'Output','FontSize',14)
ylabel(p2,'Manipulated Variable','FontSize',14)