The adaptive cruise control ( ACC) system

MPC
The adaptive cruise control ( ACC) system is a system on the vehicle that automatically adjusts the vehicle speed to maintain a safe distance from the vehicle in front. Suppose you need to design an ACC system for a vehicle so that it can automatically adjust its speed to maintain a safe distance from the vehicle in front. A simplified dynamic model of the vehicle can be described by the following continuous-time state-space equation:
Among them, the state vector 写The adaptive cruise control ( ACC) system      includes the vehicle speed
and the distance to the vehicle in front    . The control input is acceleration, and the
disturbance input is the speed change of the preceding vehicle. The state space matrix is as follows:
Among them,    is the resistance coefficient and    is the coefficient of influence of acceleration on vehicle speed.
Requirements: Using MATLAB and MPC Toolbox, design an MPC controller to control the speed of this vehicle so that it can meet the following requirements:
1.Vehicles should try to maintain the desired speed

2.The vehicle should maintain a safe distance from the vehicle in front     , which  is  given  by the formula        , where    is the minimum keeping interval and    is the time interval factor
3.The controller's prediction range should be set to 20 time steps and the control
range should be set to 5 time steps.

4.The absolute value of speed and acceleration does not exceed 

5.The speed of the vehicle shall not exceed   and shall not be lower than

6.The speed of the vehicle ahead satisfies the function    

7.The initial state is     
 

What needs to be done:
•MATLAB code for MPC controller design.
•Simulate for at least 30 seconds and output pictures of the vehicle speed and the distance to the vehicle in front     

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