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A model predictive control (MPC) strategy is developed for the diesel engine air path. The objective is to regulate the intake manifold pressure (MAP) and exhaust gas recirculation rate (EGR rate) to the specified set-points by coordinated control of the Variable Geometry Turbine (VGT), and EGR valve. The approach taken enforces a decay in a flexible Lyapunov function so that a computationally simple MPC controller can be constructed using a single-step prediction and control horizon. A rate-based framework is also utilized to achieve zero-steady state tracking in the presence of model and plant mismatch. Closed-loop simulation results are reported.