1. Please pick one system and elaborate how you would design a model predictive control (MPC) system, which we learned in class, to this system in detail. More specically, you may want to elaborate (1) the manipulated variables, (2) state/input constraints, (3) cost flmction, (4) MP0 formulation (which includes everything above in the form of a quadratic program- ming optimization problem), and (5) key challenges associated with solving the optimization problem for MP0