Dear Eman El Gendy,

I suggest you to see links on topic.

Tuning MPC for Desired Closed-Loop Performance for MIMO Systems

folk.ntnu.no/skoge/prost/proceedings/acc11/data/.../1438.pdf

Model Predictive Control Objective and Tuning Factors - YouTube

https://www.youtube.com/watch?v=dM8gX54jWW4

Tuning Methods for Model Predictive Controllers

www2.imm.dtu.dk/pubdb/views/edoc_download.php/6375/pdf/imm6375.pdf

Model Predictive Control Toolbox - Code Examples - MATLAB

https://www.mathworks.com/products/mpc/code-examples.html

Best regards

Thank you sir

Following...

Thank you.

Hi,

Here is a complete workshop on how to implement MPC and MHE in MATALB.

https://www.youtube.com/playlist?list=PLK8squHT_Uzej3UCUHjtOtm5X7pMFSgAL

The workshop shows a complete explanation of the implementation with coding examples. The codes are also provided.

Thank you very much sir

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Reinforcement learning approach:

Article Adaptive predictive control of a differential drive robot tu...

There is also a method I created for NMPC, which in general is a little bit trickier. Please read:

Article Nonlinear Model Predictive Formation Control: An Iterative W...

On the book of passino Biommicry, there are some examples in matlab

LightNet package in matlab contain some example on MPC code