Model Predictive Control Simulation

I am midway through a “Normal Simulation” phase and now need a specialist who can build a reliable Model Predictive Control (MPC) simulation that proves the concept works before I move on to hardware or plant trials. The main objective is the simulation itself—no immediate requirement to optimise an existing process or create an entirely new control strategy; I want a clean, well-structured environment that lets me test ideas quickly and spot weaknesses early.

Here is what I expect:

• A complete, runnable MPC model in MATLAB/Simulink

Acceptance criteria
1. The script or model opens and runs without manual edits on a fresh install.
2. Key states track set-points within the specified tolerances I will supply.
3. All code is commented clearly enough for another engineer to extend.

If you have previous MPC examples or publications, please mention them so I can gauge fit quickly.
Dealine: 2 days