MPC toolbox disturbance input
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I'm looking at the default MPC structure inside the MPC toolbox. Why does it assume the measured disturbances affect the MPC model or it only means the MPC toolbox has a copy of the MD model and it's not really affecting the controller itself per se?
![](https://www.mathworks.com/matlabcentral/answers/uploaded_files/585711/image.png)
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