This paper presents precision tracking control and constraint handling of mechatronic servo systems using model predictive control. The current study revisits integral model predictive control, a common technique used in industrial process applications, from a motion control perspective for step tracking and constraint handling. To improve the control performance for periodic signal tracking, this paper integrates an internal modelbased repetitive control law with the model predictive controller and transforms the original problem to a quadratic programming problem to deal with the given constraints. The current study applies the aforesaid controls to a piezoactuated system, implemented at a 10-kHz sampling rate. This research analyzes and discusses the experimental results of several controller design parameters affecting the control performance. Asymptotic error tracking and constraint handling results particularly demonstrate the effectiveness and potential of the model predictive controller for the servo design of fast mechatronic systems.