MPC algorithm devlop in matlab for position tracking of DC servo motor also define serial input/output port in mfile coding for hardware interfacing

Model Predictive algorithm devlop in matlab for position tracking of DC servo [login to view URL], DC servo motor model is 12V (C4OR) [login to view URL] devlope in Matlab for any reference position in degree hold the motor . feedback compare with set point and generate error is reduse by model predictive controller. MPC has no of advantage compare to simple [login to view URL] can predict the output response as according to predicted Horizon and time horizon. I want the MPC algorithm code in Matlab mfile. In that algorithm serial input/ output port also define for my further work of hardware interface.