some examples of MPC: 1. you need to run the file 'setup' to set up the following examples. 2. the file 'simpleMPC_example' offers a simple model to run the MPC, which is also used to compare LQR. 3. the file 'vdposcillator_example' offers a Van der Pol oscillator(vdposcillator) model to run the linear MPC and nonlinear MPC. 4. the file 'cstr_example' offers a Continuous stirred-tank reactor(CSTR) model to run the linear MPC and nonlinear MPC. 5. the paper 'MPC for nonlinear systems: a comparative review of discretization methods' explained these examples in detail.