Recent 2nd edition of a leading text. New chapter on numerical optimal control by Moritz M. Diehl. 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 230 end-of-chapter exercises support the teaching and learning of MPC.