How to update plant model for use in adaptive MPC ?

I am working on controlling a 7 degree of freedom bicycle model using adabtive model predective control block. There is an inport port named "model". i watched some youtube videos where they connect an updated version of the plant model to it. They connect the model output to some function that updates it. However, none of them explained how this function exactly woks. I need to know how I can update my model to connect it to the block. If there is any literature that could help me understand the adaptive MPC block better, please share it with me.

[Rabé Andersson]

Have you find the answer for your question? I am struggling with the same issue.

Could you please share your solution if you solve it.

Best regards