Matlab-Fractional-order model predictive controller

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% Parameters Ts = 0.1; % Sampling time N = 20; % Prediction horizon Nu = 5; % Control horizon alpha = 0.8; % Fractional order Q = eye(N); % State cost matrix R = eye(Nu); % Control cost matrix constraints = ... % Constraints on inputs and outputs % Plant model (fractional-order transfer function) num = [1]; % Numerator coefficients den = [1, 0.5^alpha]; % Denominator coefficients plant = tf(num, den, Ts, 'Variable', 'z^-1'); % FOMPC Setup Ad = []; % Constraints matrix bd = []; % Constraints vector % Time vector time = 0:Ts:10; % Initial state and control input x0 = 0; u0 = 0; % Controller loop for k = 1:length(time)-1 % Obtain plant state measurement (simulated or real) yk = ... % Measure plant output