mpcverbosity off;                           % turn off mpc messages

% create plant model
plant = rss(4,4,4);                         % random state space
plant.D = 0;                                % set D matrix to zero

mpcobj=mpc(plant,1);

>> get(mpcobj,'Ts')
ans =
     1
>> get(mpcobj,"Ts")
ans =
     1
>> mpcobj.Ts
ans =
     1
>> get(mpcobj,'ControlHorizon')
ans =
     2
>> get(mpcobj,'Model')
ans = 
  struct with fields:

          Plant: [4×4 ss]
    Disturbance: []
          Noise: []
        Nominal: [1×1 struct]

% display all properties
get(mpcobj)
                          Ts: 1                   
       PredictionHorizon (P): 10                  
          ControlHorizon (C): 2                   
                       Model: [1x1 struct]        
   ManipulatedVariables (MV): [1x4 struct]        
        OutputVariables (OV): [1x4 struct]        
   DisturbanceVariables (DV): []                  
                 Weights (W): [1x1 struct]        
                   Optimizer: [1x1 struct]        
                       Notes: {}                  
                    UserData: []                  
                     History: 11-Sep-2020 16:50:19


% get whole MPC structure
WholeMPCStruct=get(mpcobj);

% display History field
WholeMPCStruct.History
ans =
   1.0e+03 *
    2.0200    0.0090    0.0110    0.0160    0.0500    0.0193