doc change manual tuning nmpc

Author: franckgaga

docs/src/manual/nonlinmpc.md

@@ -76,11 +76,11 @@ plot(res, plotu=false, plotxwithx̂=true)
 
 The estimate ``x̂_3`` is the integrator state that compensates for static errors (`nint_ym`
 and `σQ_int` parameters of [`UnscentedKalmanFilter`](@ref)). The Kalman filter performance
-seems sufficient for control. As the motor torque is limited to -1.5 to 1.5 N m, we 
+seems sufficient for control. As the motor torque is limited to -1.5 to 1.5 N m, we
 incorporate the input constraints in a [`NonLinMPC`](@ref):
 
 ```@example 1
-mpc = NonLinMPC(estim, Hp=20, Hc=4, Mwt=[0.05], Nwt=[2.5], Cwt=Inf)
+mpc = NonLinMPC(estim, Hp=20, Hc=4, Mwt=[0.5], Nwt=[2.5], Cwt=Inf)
 mpc = setconstraint!(mpc, umin=[-1.5], umax=[+1.5])
 ```