function [u] = MPC_solv(Matrices)

% Function for solving MPC problem with Quadprog
% Extract information from the matrices
H = Matrices.H;
F = Matrices.F;
G = Matrices.G;
W = Matrices.W;


[Uopt]=QUADPROG(H,F,G,W);
u = double(Uopt(1:2));


