MPC - bumpless transfer from .m-file

Hi everyone.

I'm working on a MPC solution for my master thesis, and have an issue I cant figure out.
My model is nonlinear, so I want to make several different MPC-controller for different operating points, and the choose which one to use based on what operating point I'm closest to.

To avoid large jumps when I change controllers I need to run all controllers all the time, and they all must be aware of the current actual control input. This problem is well explained in the "bumples transfer"-example in the mpc-toolbox help file.

Their solution is to feed the actual control signal to the Simulink block. I want to do this, but i want to do it in a function, not via the simulink interface. That is what I can do.

Intuitively I excpected that it was possible to feed the alternative signal to the 'mpcmove"-function, but from the documentation I cant see that that is an option.

I will be very grateful if anyone could help me with this problem..
Best regards
E. Lindeberg
.

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