diff --git a/test/3_test_predictive_control.jl b/test/3_test_predictive_control.jl
index 5603b81ed..6f4f636e9 100644
--- a/test/3_test_predictive_control.jl
+++ b/test/3_test_predictive_control.jl
@@ -1128,6 +1128,26 @@ end
     end
     @test u  ≈ [2] atol=1e-2
     @test ym ≈ r   atol=1e-2
+    f(x,u,_,model) = model.A*x + model.Bu*u
+    h(x,_,model)   = model.C*x
+    nlmodel = NonLinModel(f, h, linmodel.Ts, 1, 1, 1, 0, p=linmodel, solver=nothing)
+    nlmodel = setop!(nlmodel, yop=[10])
+    u, ym = let nlmodel=nlmodel, r=r, outdist=outdist
+        estim = UnscentedKalmanFilter(nlmodel, nint_u=[1])
+        nmpc_nint_u_ms = NonLinMPC(estim; Hp=10, transcription=MultipleShooting())
+        nlmodel.x0 .= 0
+        ym, u = nlmodel() - outdist, [0.0]
+        for i=1:25
+            ym = nlmodel() - outdist
+            preparestate!(nmpc_nint_u_ms, ym)
+            u = moveinput!(nmpc_nint_u_ms, r)
+            updatestate!(nmpc_nint_u_ms, u, ym)
+            updatestate!(nlmodel, u)
+        end
+        u, ym
+    end
+    @test u  ≈ [2] atol=1e-2
+    @test ym ≈ r   atol=1e-2
 end
 
 @testitem "NonLinMPC and ManualEstimator v.s. default" setup=[SetupMPCtests] begin