MPC-part.

The most important for this course is that you understand how
to set up the optimization problem (J and constraints), understand
feasibility handling, etc. - e.g. see the slides from Stig Strand in "septic".

A good theoretical introduction to MPC is given in:
 MPC_Hovd_Pages-from-kurskompendium.pdf  (section 6)
Note that section 7 on performance monitoring is NOT required for 2002.

Another good source on MPC is the Matlab MPC toolbox manual.