How to soften hard constraints on states in non-linear MPC?

I am using MATLAB Simulink to build an MPC application. I am giving some hard constraints on states which are being violated (nlp.status = negative number). Is there a way to soften hard constraints on states?

Answer 1

[Emmanouil Tzorakoleftherakis]

Here is an example that shows how to do that with multi-stage MPC:

https://www.mathworks.com/help/mpc/ug/use-multistage-mpc-with-neural-state-space-prediction-model-for-house-heating.html