Vary the weights on outputs, inputs, and ECR slack variable for soft constraints in real-time.
Design a model predictive controller with look-ahead (previewing) on reference and measured disturbance trajectories.
Vary input and output saturation limits in real-time control. For both command-line and Simulink® simulations, you specify updated input and output constraints at each control interval.
Obtain bumpless transfer when switching model predictive controller from manual to automatic operation or vice versa.
Use the "qp.status" outport of the MPC Controller block in Simulink® to detect controller failures in real time.