Initial condition setting mPC

Hello everyone, I am designing and configuring an MPC connected to its respective reference and lti system. However, I don't know how I can do it so that the starting point or initial condition of the MPC is different from zero and adjusts to the value given by the reference. Which is a trajectory. Thank you and I remain attentive. I am doing the simulation in Simulink.

Answer 1

[Emmanouil Tzorakoleftherakis]

This should be helpful:

https://www.mathworks.com/help/mpc/ref/mpcstate.html