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Goal of this text is to provide a comprehensive and foundational treatment of the theory and design of model predictive control (MPC). By providing a comprehensive treatment of the MPC foundation, this text enables researchers to learn and teach the fundamentals of MPC without continuously searching the diverse control research literature for omitted arguments and requisite background material. When teaching the subject, it is essential to have a collection of exercises that enables the students to assess their level of comprehension and mastery of the topics. To support the teaching and learning of MPC, more than 200 end-of-chapter exercises are included