%  data for vdv.

%K=0.1034;
%beta=-1/57.18;
%t1=0.054;
%t2=0.044;

%K=0.0115;
%beta=-1/9.59;
%t1=0.039;
%t2=0.029;

%K=-0.0059;
%beta=1/7.75;
%t1=0.0305;
%t2=0.023;

K=-0.0096;
beta=1/19.7;
t1=0.025;
t2=0.019;

g21=poly2tfd(K*[beta 1],[t1*t2 t1+t2 1]);
tfinal=0.3;
delt=0.01;
nout=1;
model=tfd2step(tfinal,delt,nout,g21);
dmodel = [];		%  No measured disturbances
ywt=1;
uwt=0.;
m=3;
p=20;
r=1.05;
ulim=[3 35 200];
ylim=[-inf inf];
tfilter=[];
Kmpc = mpccon(model,ywt,uwt,m,p);
usat = ulim;
y0 = 1.09;
u0 = 15;



