Organized into two parts (algorithm and application/theory and scientific interpretation), this book focuses on the practical aspects of implementing predictive control as opposed to basic conceptual and theoretical understanding. Model Predictive Control (MPC) design in double-layered framework has already been adopted in industrial processes, and the book covers key topics in MPC theoretical studies which are related to the demand of industrial applications. This is a topic rarely systematically investigated in books, and the author's own experiences in industrial applications provide an original overview. Basic background knowledge of linear algebra, matrix theory, calculus, and mathematical statistics, are necessary requirements to appreciate the content.