Nob Hill Publishing, LLC

Model Predictive Control: Theory and Design

by James B. Rawlings, University of Wisconsin

and David Q. Mayne, Imperial College

[Textbook cover goes here]

Nob Hill Publishing is pleased to announce the availability of the textbook "Model Predictive Control: Theory and Design," by James B. Rawlings, University of Wisconsin-Madison, and David Q. Mayne, Imperial College London.

This text provides a comprehensive and foundational treatment of the theory 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 200 end-of-chapter exercises support the teaching and learning of MPC.

  • We support Octave--a compatible, freely available language--for all calculations presented in the text.
  • A solution manual for end-of-chapter exercises is available to course instructors who adopt the text.
  • Appendices A-C, the current list of errata, and notes on recent MPC literature are available on the web.
  • Sample homeworks and exams for a one semester graduate course are available at:
  • This text has been sold in 37 countries on 6 continents.
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    576 pages
    ISBN 978-0-9759377-0-9
    US$110 list
    (C) 2009


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

    `` 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.''


    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, New York, USA
    Technical University of Denmark
    University of Houston, Texas, USA
    University of Southern California, USA
    University of Wisconsin-Madison, 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
  • Check out the computational links:


    Links | Table of Contents James B. Rawlings David Q. MayneOctave |

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