.ts=0.5; <span class="comment">% sampling time for controller</span>
0010 QuadSys.L=10;  <span class="comment">% horizon (# of steps)</span>
0011 QuadSys.nb_stages=1; <span class="comment">% repeats time</span>
0012 
0013 <span class="comment">%% Disturbance signal</span>
0014 w = 0*ones(1,numel(QuadSys.time));
0015 Wref = w;
0016 QuadSys.Wref = w;
0017 
0018 <span class="comment">% Bounds</span>
0019 QuadSys.u_ub = 10;
0020 QuadSys.u_lb = -10;
0021 QuadSys.u_delta = 20;
0022 
0023 <span class="comment">%% 