Error when NLMPC optimization "TimeVarying" and "Adaptive" is used

I have a highly non-linear state space function comprising of 60 states, and 16 control inputs. I assume that output vector is equal to the state vector. In order to create a non-linear MPC controller, I use the function but the simulation is taking a very long time. However, in the documentation of the function, it is said that the optimization variable can be set as or , which implements a linear MPC. But when I run the code, there is an error that comes after some iterations:

Error using  * 
Incorrect dimensions for matrix multiplication. Check that the number of columns in the first matrix matches the number of
rows in the second matrix. To perform elementwise multiplication, use '.*'.

Error in znlmpc_getDecisions (line 30)
Umv = reshape(coredata.Iz2u*uz,nmv,p)';

Error in znlmpc_getXUe (line 30)
[X(2:p1,:), Umv(1:p1-1,:), e] = znlmpc_getDecisions(coredata, z);

Error in nlmpc/nlmpcmove (line 247)
    [X, U, e] = znlmpc_getXUe(coredata, z, x, runtimedata.md);

Error in nmpc_run (line 65)
    mv = nlmpcmove(nlobj, x_state, last_mv, x_ref');
    
Related documentation

I wanted to know why this error is coming. For your reference, I have attached the implementation of the main program:

%% Initialize the variables
init_vars;

%% Set Non-Linear MPC Parameters
global data;

nlobj = nlmpc(data.nx, data.ny, data.nu);
nlobj.Ts = data.Ts;
nlobj.PredictionHorizon = data.Np;

nlobj.Model.StateFcn = "state_space";
nlobj.Optimization.RunAsLinearMPC = "TimeVarying";
%nlobj.Optimization.CustomCostFcn = "cost_function";
%nlobj.Optimization.ReplaceStandardCost = true;
nlobj.Weights.OutputVariables = data.weights_OV;
%nlobj.Weights.ManipulatedVariables = data.weights_MV;
%nlobj.Weights.ManipulatedVariablesRate = data.weights_MVR;

%% Set constraints

nlobj.States(3).Max = 0;
% The rpy of payload cannot go more than 5 degrees
nlobj.States(7).Min = -pi / 36;
nlobj.States(7).Max = pi / 36;
nlobj.States(8).Min = -pi / 36;
nlobj.States(8).Max = pi / 36;
nlobj.States(9).Min = -pi / 36;
nlobj.States(9).Max = pi / 36;

% rpy of each drone cannot go more than 15 degrees
for i=37:48
    nlobj.States(i).Min = -pi / 6;
    nlobj.States(i).Max = pi / 6;
end

% Thrust force is limited between [0N, 40N]. Note the NED convention.
% Torques are limited to [-5Nm, 5Nm].
for i=1:16
    if ( mod(i - 1, 4) == 0 )
        nlobj.ManipulatedVariables(i).Max = 0;
        nlobj.ManipulatedVariables(i).Min = -40;
    else
        nlobj.ManipulatedVariables(i).Min = -10;
        nlobj.ManipulatedVariables(i).Max = 10;
    end
end


%% Validate the Prediction Model
x0 = reshape(data.x_i', [], 1);
u0 = zeros(data.nu, 1);
validateFcns(nlobj, x0, u0, [], [], zeros(1, data.nx));

%% Run the MPC algorithm
Duration = 20;
data_points = 1:(Duration/data.Ts);
time = 0:data.Ts:Duration;

x_state = reshape(data.x_i', [], 1);
xHistory = x_state';
last_mv = zeros(data.nu, 1);
for ct = data_points
    t_ref = linspace(ct * data.Ts, (ct + data.Np - 1) * data.Ts, data.Np);
    x_ref = genRefTraj(t_ref, x_state);
    mv = nlmpcmove(nlobj, x_state, last_mv, x_ref');
    [t, x] = ode45(@(t, x) state_space(x, mv), [0 data.Ts], x_state);
    last_mv = mv;
    x_state = x(end, :);
    
    %Don't forget to constrain the norm of e_i's to one.
    x_state(13:15) = x_state(13:15) / norm(x_state(13:15));
    x_state(16:18) = x_state(16:18) / norm(x_state(16:18));
    x_state(19:21) = x_state(19:21) / norm(x_state(19:21));
    x_state(22:24) = x_state(22:24) / norm(x_state(22:24));
    
    xHistory(ct + 1, :) = x_state;
    xHistory(ct + 1, 3) = xHistory(ct +1, 3) * -1;
    disp(x_state(1:3));

end

[Julius Wanner]

Has this problem been solved? I am struggling with the same issue... Thank you in advance!

[世忠]

Me too. Have you two solved this problem?. I met the same error.