function [] = forcesmpc_targets()
%% Setting Targets for Manipulated Variables
% This example shows how to design a model predictive controller for a
% plant with two inputs and one output with target setpoint for a
% manipulated variable. 
% The FORCESPRO sparse solver is also demonstrated for setting input
% references.
%
% This example requires Model Predictive Control Toolbox from MathWorks.

% Copyright 2019-2023 The MathWorks, Inc. and Embotech AG, Zurich, Switzerland

    clc;
    close all;

    %% Define Plant Model
    % The linear plant model has two inputs and two outputs.
    N1 = [3 1];
    D1 = [1 2*.3 1]; 
    N2 = [2 1];
    D2 = [1 2*.5 1]; 
    plant = ss(tf({N1,N2},{D1,D2}));
    A = plant.A;
    B = plant.B;
    C = plant.C;
    D = plant.D;

    %% Design MPC Controller
    % Create MPC controller.
    Ts = 0.4;                      % Sample time
    mpcobj = mpc(plant,Ts,20,5);
    %%
    % Specify weights.
    mpcobj.weights.manipulated = [0.3 0]; % weight difference MV#1 - Target#1
    mpcobj.weights.manipulatedrate = [0 0];
    mpcobj.weights.output = 1;
    %%
    % Define input specifications.
    mpcobj.MV = struct('RateMin',{-0.5;-0.5},'RateMax',{0.5;0.5});

    %% Generate FORCESPRO solver
    % Create options structure for FORCESPRO solver using the Sparse QP
    % formulation.
    options = mpcToForcesOptions();
    options.UseMVTarget = true; 
    % Generate solver
    [coredata, statedata, onlinedata] = mpcToForces(mpcobj, options);

    %% Simulate
    Tstop = 20;                     % seconds
    Tf = round(Tstop/Ts);           % simulation iterations
    % Discretize system
    dSys = c2d(plant, Ts);
    yref = zeros(Tf,1);
    uref = [2*ones(Tf, 1), zeros(Tf, 1)];
    x0 = zeros(size(plant.A,1),1);
    [Y, U] = simulateMpcForces(mpcobj, dSys, Tf, x0, yref, 1, coredata, statedata, onlinedata, uref);

    %% Plot results.
    figure
    plot(Ts:Ts:Tstop, Y, Ts:Ts:Tstop, yref);
    grid on; xlabel('Time (sec)'); title('Output');
    figure
    plot(0:Ts:Tstop-Ts, U(1,:), 0:Ts:Tstop-Ts, uref(:,1));
    grid on; xlabel('Time (sec)'); title('Input #1');
end