Using google you will find many open-source toolboxes for solving MPC related optimization problems, for instance ACADO, \muAO-MPC, Forces, ...

However, in order to receive detailed feedback, you should be more specific about what kind of MPC problem (linear or nonlinear, discrete or continuous time, ...) you want to solve and what the computational requirements are. 

Hope this helps

timm

Although old, this paper lists several programs: http://www.scribd.com/doc/16955545/MPC-CEP-Qin-Badgwell

Dear Hassan,

GPOPS-II and GAMS are also suggested for this purpose

Search for them

Hope these points work,

Regards,

Saeed Rahmati,