Model Predictive Control Toolbox Support

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Technical Support Examples
Is there any additional documentation on the SCMPCNL function in the Model Predictive Control Toolbox?
Why are the nominal conditions of the nonlinear CSTR model set to [0 0 u] in the example code for successive linearization in the Model Predictive Control Toolbox Version 2.2 (R14SP2)?
How do I specify customized constraints for the optimization process when using the Model Predictive Control Toolbox 1.0.7 (R13)?

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