Documentation Nomenclature

Several standard typographical and variable name conventions are used within this document and the toolbox itself:

Typographical Conventions

t	Italic Scalar
a	Lowercase Bold Vector
A	Uppercase Bold Matrix

Standard Variable Names

u	Input vector (Manipulated Variable)
x	State vector
y	Output vector (Measured Outputs)

MPC Variable Names

umdist	Unmeasured input disturbances
mdist	Measured input disturbances
noise	Output disturbances
up	Plant input
xm	Model states
xp	Plant states
ym	Model output
yp	Plant output