Convert `nlmpc`

object into one or more `mpc`

objects

In practice, when producing comparable performance, linear MPC is preferred over
nonlinear MPC due to its higher computational efficiency. Using the
`convertToMPC`

function, you can convert a nonlinear MPC controller into
one or more linear MPC controllers at specific operating points. You can then implement
gain-scheduled or adaptive MPC using the linear controllers and compare their performance to
the benchmark nonlinear MPC controller. For an example, see Nonlinear and Gain-Scheduled MPC Control of an Ethylene Oxidation Plant.

To use `convertToMPC`

, your nonlinear controller must not have custom
cost or constraint functions, since these custom functions are not supported for linear MPC
controllers.