This video explains the type of MPC controller you can use based on your plant model, constraints, and cost function. An optimization problem with these properties is a convex one, and you can use many types of there are numerical methods and software to solve it. If your system is nonlinear, but it can be approximated by linear models at operating points of interest, then you can use adaptive or gain-scheduled MPC. In adaptive MPC, a linear model is computed on the fly as the operating conditions change. In gain-scheduled MPC, the linearization is performed offline at the operating points of interest. If your plant is highly nonlinear, these options probably won’t provide satisfactory performance. In that case, you can use nonlinear MPC. In addition, you can use nonlinear if you have a linear plant model but either the constraints, the cost function, or both are nonlinear.