How can I create an MPC plant model for a nonlinear state space model?

I have a nonlinear state space model I would like to use as a plant for an MPC controller in Simulink. I am trying to use an s function I have previously used but am having issues getting the MPC designer to use it as a plant.

The state space model represents the equations of motion for a quadrotor drone.

Does anyone know how to use an s function as a plant for the MPC designer in simulink?

[Emmanouil Tzorakoleftherakis]

I am not sure which MATLAB version you are using, but have you considered using nonlinear MPC instead of linear?

Answer 1

[Dhruv Thakkar]

You can use an adaptive model predicitve controller to handle the nonlinearity of the system. If the Simulink function has a problem while compilation. You can use a matlab function that calls the S-function to feed the states to the MPC block.

It is appericiated if you can provide a minimum working code(MWC) so that the community can help you in a better way.