two wheeled mobile robot model predictive control problem

hello

i'm attaching a simulink model predictive control for two wheeled mobile robot, i have [x, y, teta] outputs, my reference is [x,y,teta] for a circle and eight reference, double click the ref block to switch between them, 1 and 2, i don't know why doesn't it follow the ref, my (y) output is always null , please help

parameters

Rc=0.15;

k=0.05;

R=1;

L=0.5;

J=0.0025;

Mf=0.0005;

Rw=0.06;

[Said Fadlo]

pls send the MPC1 file

[Welid Benchouche]

Hello Said

This file is long gone, it's been 3 years that i have posted this problem, i forgot if i have even solved it but i found another way which is using the toolboxes CasADi, Gekko or APmonitor to implement my MPCs, good luck