nlobjTracking = nlmpc(3,3,2); Ts = 0.1; pTracking = 30; nlobjTracking.Ts = Ts; nlobjTracking.PredictionHorizon = pTracking; nlobjTracking.ControlHorizon = pTracking; nlobjTracking.MV(1).Min = -2; nlobjTracking.MV(1).Max = 2; nlobjTracking.MV(2).Min = -pi/8; nlobjTracking.MV(2).Max = pi/8; nlobjTracking.Weights.ManipulatedVariablesRate = [0.1,0.2]; nlobjTracking.Weights.OutputVariables = [1,1,3];..
