MPC output(mv) is zero

Good evening, everyone,

I am currently working on the path following simulink model using MPC controller. The parameters are:

mo:3(current states-x,y, theta)

ref:3(reference states-x,y, theta)

mv:(linear velocity, angular velocity)

Simulink model is working without any error but the outputs(mv) from the MPC controller are zero only. I don't know why it is so. Kindly help me with it. I have applied constraints and designed the parameters. I have attached the picture of mymodel below.

[Emmanouil Tzorakoleftherakis]

I suspect the optimization is not converging. Can you check what the optimization status is? You can enable this port directly from the MPC block