What is the relationship problem in these tables?

I am using Laravel and would like to make a relationship from the table of municipios that contains estado_id . The estado_id will be related to the estado_id of the table of estados .

Soon after running query , I returned the following error:

  

[Illuminate \ Database \ QueryException]         SQLSTATE [HY000]: General error: 1005 Can not create table banco_rep . #sql-26f8_16b (errno: 150 "Foreign key construct         aint is incorrectly formed ") (SQL: alter table municipios add constraint municipios_estados_id_foreign foreign         key ( estados_id ) references estados ( id ) on delete cascade)

     

[PDOException]         SQLSTATE [HY000]: General error: 1005 Can not create table banco_rep . #sql-26f8_16b (errno: 150 "Foreign key construct         aint is incorrectly formed ")

Soon I have the codes PHP , part in which I execute and create the bank:

<?php    
use Illuminate\Support\Facades\Schema;
use Illuminate\Database\Schema\Blueprint;
use Illuminate\Database\Migrations\Migration;    
class CreateTableMunicipiosTable extends Migration
{
  /**
  * Run the migrations.
  *
  * @return void
  */
  public function up()
  {
    Schema::dropIfExists('municipios');
    Schema::create('municipios', function (Blueprint $table) {
      $table->increments('municipios_id');
      $table->integer('estados_id')->unsigned();
      $table->string('nome', 100);
      $table->char('cep',10);
      $table->foreign('estados_id')
      ->references('estados_id')
      ->on('estados')
      ->onDelete('cascade');
      $table->timestamps();
      $table->softDeletes();
    });
  }    
  /**
  * Reverse the migrations.
  *
  * @return void
  */
  public function down()
  {
    Schema::dropIfExists('municipios');
  }
}

I create the table database states:

<?php

use Illuminate\Support\Facades\Schema;
use Illuminate\Database\Schema\Blueprint;
use Illuminate\Database\Migrations\Migration;    
class CreateTableEstadosTable extends Migration
{
  /**
  * Run the migrations.
  *
  * @return void
  */
  public function up()
  {
    Schema::dropIfExists('estados');
    Schema::create('estados', function (Blueprint $table) {
      $table->increments('estados_id');
      $table->string('nome', 100);
      $table->char('sigla', 2);
      $table->timestamps();
      $table->softDeletes();
    });
  }    
  /**
  * Reverse the migrations.
  *
  * @return void
  */
  public function down()
  {

    Schema::dropIfExists('estados');
  }
}

Model States:

<?php

namespace App;

use Illuminate\Database\Eloquent\Model;

class Estados extends Model
{
  protected $fillable = ['estados_id','nome','sigla'];
  protected $dates = ['deleted_at'];

  public function municipios()
  {
    return $this->belongsTo('App\Municipios');
  }
}

Model Municipalities:

<?php

namespace App;

use Illuminate\Database\Eloquent\Model;

class Municipios extends Model
{
  protected $fillable = ['municipios_id','estados_id', 'nome', 'cep'];
  protected $dates = ['deleted_at'];
  public function estados()
  {
    return $this->hasMany('App\Estados');
  }
}