Nob Hill Publishing, LLC

Model Predictive Control: Theory, Computation, and Design

2nd Edition---Paperback Edition

by James B. Rawlings, University of California, Santa Barbara

David Q. Mayne, Imperial College, and

Moritz M. Diehl, University of Freiburg

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Nob Hill Publishing is pleased to announce the availability of the Second Edition of the textbook, Model Predictive Control: Theory, Computation, and Design, by James B. Rawlings, University of University of California, Santa Barbara, David Q. Mayne, Imperial College London, and Moritz M. Diehl, University of Freiburg.

  • This text provides a comprehensive and foundational treatment of the theory, computation, and design of model predictive control. It will enable researchers to learn and teach the fundamentals of MPC without continuously searching the diverse control research literature for omitted arguments and requisite background material. More than 240 end-of-chapter exercises, 49 worked examples, 110 figures, and more than 300 assumptions, corollaries, definitions, lemmas, propositions, and theorems.
  • In the eight years since the publication of the first edition, the field of MPC has seen tremendous progress. First and foremost, the algorithms and high-level software available for solving challenging nonlinear optimal control problems have advanced significantly. For this reason, we have added a third coauthor, Professor Moritz M. Diehl, and a new chapter, Chapter 8, ``Numerical Optimal Control,'' which provides a comprehensive treatment of methods for the numerical solution of the MPC optimization problem.
  • A solution manual for end-of-chapter exercises is available to course instructors who adopt the text.
  • We also have added a software release with the second edition of the text. The software enables the solution of all of the examples and exercises in the text requiring numerical calculation. The software is based on the freely available CasADi language, and a high-level set of Octave/Matlab functions, Octave/MPCTools, to serve as an interface to CasADi. The text software can be downloaded from
  • The second edition of the text also treats new topics: economic MPC, MPC with discrete actuators, a more recent form of suboptimal MPC, stochastic MPC, a new treatment of state estimation, distributed MPC of nonlinear systems, and new software to compute the critical regions in explicit MPC.

  • Latest Printing Available for Download
  • Appendices A-C, and the current list of errata are available on the web.
  • Sample homeworks and exams for a one-semester graduate course are available at:
  • This text has been sold in more than 40 countries on six continents.
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    770 pages
    ISBN 978-0-9759377-5-4
    US$75 list
    (C) 2020


  • Professor Petar Kokotovic, Elec. & Comp. Eng. Dept., University of California, Santa Barbara (2009)

    `` This is a "tour de force" in a field where the need for such a comprehensive user-friendly textbook has been felt for many years. While ideas and techniques of Model Predictive Control have been popular in both industry and academia for more than two decades, only now will practicing engineers, engineering students and instructors be able to use a single volume as a source for both practical algorithms and their analytical foundations. The authors' ability to harmonize the pedagogical accessibility of the text with rigorous proofs of the main results is most impressive. The presentation is made vivid with an extremely rich collection of examples and exercises. I consider this work one of the two or three most successful works in the broad field of control theory.''


    Oakland University, Rochester, MI, USA
    University of Colorado, Boulder, CO, USA
    Chalmers University of Technology, Gothenburg, Sweden
    Lawrence Technological University, Michigan, USA
    Clemson University, SC, USA
    University of California, CA, Santa Barbara, USA
    University of Minnesota, MN, USA
    University of Washington, WA, USA
    University of Freiburg, Germany
    Polytechnic University of Bari, Italy
    Lund University, Sweden
    RWTH Aachen, Germany
    Delft University of Technology, Netherlands
    Technical University of Munich, Germany
    EPFL, Lausanne, Switzerland
    Chalmers University of Technology, Gothenburg, Sweden
    University of Magdeburg, Germany
    Eindhoven University of Technology, Netherlands
    Rensselaer Polytechnic Institute, NY, USA
    Technical University of Denmark
    University of Houston, TX, USA
    University of Southern California, CA, USA
    University of Wisconsin-Madison, WI, USA

    Check out text sample pages:

  • Table of Contents
  • List of Examples and Statements
  • Learn more about the authors:

  • Professor James B. Rawlings
  • Professor David Q. Mayne
  • Professor Moritz M. Diehl
  • Check out the computational links:

    Links | Table of Contents James B. Rawlings David Q. Mayne Moritz M. DiehlOctaveMPCToolsCasADi

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