Error in Adaptive MPC block (mask) 'model_ampc/Adaptive MPC Controller'

Hi everyone, I am doing some work on stablility of the plant model in the presence of external disturbances. The plant consists of 11 state variables, 3 inputs and 11 outputs which are reduced to 11 state variables, 2 inputs and 4 outputs. I have followed a step by step procedure of adaptive MPC controller design in this link "https://www.mathworks.com/help/mpc/ug/adaptive-mpc-control-of-nonlinear-chemical-reactor-using-online-model-estimation.html#d119e12076" but after I run the model, the following errors are created. Caused by: Problems encountered when designing the default state estimator (Kalman filter)

used by MPC. The "kalman" command could not compute a convergent Kalman estimator

for this plant model and covariance data. To remedy the problem:

1. Make sure that all unstable poles of A are observable through C (use MINREAL to check)

2. Modify the weights QN and RN to make [G 0;H I]*[Qn Nn;Nn' Rn]*[G 0;H I]' positive definite (use EIG to check positivity).

Please advice, how to modify the weights QN and Rn for my modified system plant and how to used the mineral command to make the plant observable.

 My system matrices are attached.

what should be the size of QN and RN?