In this video, you will learn how to design an adaptive MPC controller for an autonomous steering vehicle system whose dynamics change with respect to the longitudinal velocity. After you design an MPC controller for the most likely operating conditions of your control system, you can implement an adaptive MPC controller based on that design. At each time step, adaptive MPC updates the plant model and nominal conditions for the current operating conditions. In this video, you’ll learn how to calculate and update the discrete plant model required by the adaptive MPC block. You’ll also learn how to generate code from your adaptive MPC controller, and you’ll see an example showing a real self-driving car that uses MPC control and image processing algorithms to keep itself within its lanes.