function [u] = MPC_solvIB(Matrices,M)

% Extract information from the matrices
H = Matrices.H;
F = Matrices.F;
G = Matrices.G;
W = Matrices.W;

neq = size(M,1);

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


