How do you specify the reference positions for a multi output system?
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I know this may be a very simple question, however I am not sure if what I am doing is right since the MPC I have implemented is not yet successful. How do you specify the reference outputs for a multi-output system in the ref port on the MPC controller block? All the examples I have looked at/been able to find are when there is only a single output, so simply a constant sufficed, or when the reference is a trajectory needs to be followed, none when the outputs both need to tend towards some constant value.