Hey, I'm working on basic MPC with Maciejowski book; I'm trying to tune 2nd order system (1/ (z^2 -1.4z+0.45)) for one coincidence points P=8 and for control horizon Hu or M= 1 , it is really Nice, but for two coincidence pointe P=[8;16] and Hu=M= 2 the system become unstable!!!!
have you tried to tune 2nd order system with 2 coincidence point?