Model Predictive Control (MPC) is a is an optimal control strategy based on
numerical optimization. Future control inputs and future plant responses are
predicted using a system model and optimized at regular intervals with respect
to a performance index. From its origins as a computational technique for im-proving control performance in applications within the process and petrochem-ical industries, predictive control has become arguably the most widespread
advanced control methodology currently in use in industry. MPC has a sound
theoretical basis and its stability, optimality, and robustness properties are well
understood.