From 7af38f870e1f49133f4fa3dfbd534283669fea13 Mon Sep 17 00:00:00 2001
From: Francis Gagnon <34136215+franckgaga@users.noreply.github.com>
Date: Fri, 7 Nov 2025 00:22:16 -0500
Subject: [PATCH] Modify MPC setup to use MovingHorizonEstimator

Updated the MPC initialization to include a moving horizon estimator.
---
 README.md | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/README.md b/README.md
index d160d35ea..62c3ad990 100644
--- a/README.md
+++ b/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])
 ```