);
			ctrl.N = horizon;
			ctrl.model.x.min = [-5; -5];
			ctrl.model.x.max = [5; 5];
			ctrl.model.u.min = -1;
			ctrl.model.u.max = 1;
			ctrl.model.x.penalty = QuadFunction(eye(ctrl.model.nx));
			ctrl.model.u.penalty = QuadFunction(eye(ctrl.model.nu));
		</pre>
<pre class="programlisting"></pre>Compute the explicit solution<pre class="programlisting"> exp_ctrl = ctrl.toExplicit()</pre>
<pre class="programlisting">mpt_plcp: 21 regions
Explicit MPC controller (horizon: 5, regions: 21)
</pre> Plot the expl