mpcverbosity off;                           % turn off mpc messages
plant = rss(5,2,3);plant.D=0;               % random state space
mpcobj=mpc(plant,1);                        % create mpc object (1 second sampling time)

mpcSize = size(mpcobj)                      % size of the MPC controller
mpcSize =
     3     2

nMV = size(mpcobj,'MV')                     % size of manipulated variables vector 
nMV =
     3
nMO = size(mpcobj,"MO")                     % size of measured output vector 
nMO =
     2
nMD = size(mpcobj,'md')                     % size of measured (input) disturbance vector 
nMD =
     0

size(mpcobj)                                % size of MPC controller, printout
MPC controller with 2 measured output(s), 0 unmeasured output(s),
3 manipulated input(s), 0 measured disturbance(s), 0 unmeasured disturbance(s)