# ss

Convert unconstrained MPC controller to state-space linear system form

## Syntax

## Description

Use the Model Predictive Control Toolbox™
`ss`

function to convert an unconstrained MPC controller to transfer
function form (see `mpc`

for background). The returned controller is
equivalent to the original MPC controller `MPCobj`

when no constraints are
active. You can then use Control System Toolbox™ software for sensitivity analysis and other diagnostic
calculations.

To create or convert a generic LTI dynamical system to state space form, see `ss`

and
Dynamic System Models.

specifies whether the returned controller has preview action, that is if it uses the whole
reference and measured disturbance sequences as input signals.`kssFullPv`

= ss(`MPCobj`

,`signals`

,`refPreview`

,`mdPreview`

)

## Examples

## Input Arguments

## Output Arguments

**Introduced before R2006a**