A first study text for a newcomer to the field.
Control Systems Engineering By Nagrath, Tata Mc.Graw Hill
Are you sure this text treats Model Predictive Controls?
Dear Ron, I will recommend this book: "Techniques of Model-based Control". It treats MPC as you asked for.
http://books.google.rs/books/about/Techniques_of_Model_based_Control.html?id=R05I3cqzPWYC&redir_esc=y
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