“…MPC has been used in ICE control for a wide variety of ICE control problems. Among these control problems, MPC has been used widely for the control of fuel consumption [28,30,[33][34][35][36]52,54,[135][136][137], combustion phasing [21,22,27,28,[37][38][39]52,54,108,129,130,138], cyclic variability [54,130], torque and load (IMEP) [22,27,28,33,[37][38][39][40][41][42]52,54,108,129,130,[136][137][138], idle speed [25,36,43,139,140], airpath (P man , EGR)…”