MATLAB: Simulink not recognizing blocks in the linearization path

Question

I am trying to simulate a MPC controller in a coupled tank plant but when I run the MPC toolbox my system is not being linearized. I was expecting matrices 2×2 for my state space system. I have attached the images of the screen of the model and the compilation from the control and estimation tool. Does anyone knows the reason why simulink is not linearizing this model?

Answer 1

I quickly tried setting up some values and linearizing plant model. My guess is that you are probably linearizing where your integrators are saturated, and therefore are getting zero linearization. Try to disable integrator saturation when designing MPC, then enable it back when running simulations.