This is a help file for Model Predictive Control (MPC) for any application
step 1: define all the parameters in the file, "define_parameters.m"
step 2: define all the outputs in terms of states, x in the file, "x2y.m"
step 3: write down all the state equations (dx/dt=f(x,u)) in the file, "odefun.m"
step 4: run the matlab file, "run_mpc"