Model Predictive Control Computation
This section describes how the model predictive control optimization problem is solved at each time step k (in mpcmove, mpc_sfun.mex, and mpcloop_engine.mex) by using the matrices built at initialization described in QP Matrices.
Unconstrained MPC
The optimal solution is computed analytically
and the model predictive controller sets 
u(k)=z*0, u(k)=u(k-1)+u(k).
Constrained Model Predictive Control
The optimal solution z*, 
* is computed by solving the quadratic program described in Equation 2-9 and Equation 2-11, using the QP solver coded in the qpsolver.mex function (see qpdantz for more details).
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