MPC Tutorial IV - State Space MPC with input increment

functions and simulink block implement state space MPC using input increment

In tutorials II and III, the state space MPC needs to calculate an inverse matrix, which may not be feasible for some systems. In this tutorial, a different state space MPC formulation using input increment is implemented in both m-function and simulink. In this formulation, the inverse matrix is avoided. Hence, it is more generic.