# Rate-Switching MPC
Evaluation of a rate switching, state and input constrained, MPC, derived from a continuous time optimal design. This code has been tested with [Matlab Simulink v 9.2 (R2018b)](https://www.mathworks.com/products/matlab.html) and [TrueTime 2.0](http://www.control.lth.se/research/tools-and-software/truetime).

### Primary files
- init.m              Configures the example.
- rsmpc.slx           Simulink model.
- tt\_rsmpc\_init.m   RS-MPC init file, TrueTime.
- tt\_rsmpc\_main.m   RS-MPC implementation, TrueTime.
- simrsmpc.m          Runs simulation. See file header for options.
- freqinfo.m          Finds freq. range from singular values.