How to get rid of Noise in Simulink?

I have a noisy signal due to sensor noise. How can I get rid of this sensor noise using any built-in or custom filter in Simulink?

P.S. I used a custom Kalman filter but it has no effect, maybe I was making a mistake.

Yellow... My Sensor Output (Which is input to the MPC)

Blue is the MPC (Controller) output.

Answer 1

[Sulaymon Eshkabilov]

There are a few blocks can be used. E.g., Discrete Filter (Transfer Function), Discrete FIR Filter, etc., whcih can be found: Simulink ->Discrete->Discrete Filter

Simulink ->Discrete->Discrete FIR Filter