Binary Decision Variable in MPC

I want to create a model-predictive contoller using Matlab's MPC Toolbox. However, the contraints involve binary decisions variables. Can the MPC Toolbox cope with them as well?

For more detail, basically, I have contraints which need to change depending on the plant's state. This could be solved by using binary variables, but maybe there is another approach as well?

Answer 1

[Emmanouil Tzorakoleftherakis]

This should be doable with custom constraints in nonlinear MPC. You can create your own function that decides how the constraint works.