Modify MPC setup to use MovingHorizonEstimator

Updated the MPC initialization to include a moving horizon estimator.

Author: franckgaga

README.md

@@ -51,7 +51,8 @@ Our goal is controlling the first output $y_1$, but the second one $y_2$ should
 35:
 
 ```julia
-mpc = LinMPC(model, Mwt=[1, 0], Nwt=[0.1])
+mhe = MovingHorizonEstimator(mode)
+mpc = LinMPC(mhe, Mwt=[1, 0], Nwt=[0.1])
 mpc = setconstraint!(mpc, ymax=[Inf, 35])
 ```