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how to match Extended kalman filter with MPC control as a loop filter of example digital PLL?

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i need make a digital loop filter with extended kalman filter for determine of TDC(pfd) output to connect to MPC control becuase it work only with space state .

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PIRC
PIRC on 30 Aug 2023
Integrate an Extended Kalman Filter (EKF) for state estimation within a digital Phase-Locked Loop (PLL). Use its estimates as initial conditions for a Model Predictive Control (MPC) algorithm, which calculates optimal control inputs over time to align a VCO with a reference signal, achieving synchronization and stability. This loop combines EKF's state estimation with MPC's predictive control, enhancing PLL performance.

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R2023a

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