%specificiranje sistema
K=1;
tau=100;
n=[0 K];
d=[tau 1];
sistem = ss(tf(n,d));
A = sistem.a;
B = sistem.b;
C = sistem.c;
D = sistem.d;
Ts = 1; %period uzorkovanja u sekundama
model = LTISystem('A', A, 'B', B);

model.x.min = 0;
model.x.max = 100;
model.u.min = 0;
model.u.max = 5;

model.x.with('reference');
model.x.reference = 'free';

model.x.penalty = QuadFunction( 5 );
model.u.penalty = QuadFunction( 1 );

ctrl = MPCController(model, 4);
ectrl = ctrl.toExplicit();

ectrl.feedback.fplot()