Model Predictive Control Toolbox
You can use the Multiple MPC Controllers block for controlling a nonlinear Simulink plant model over a wide range of operating conditions. With this block you can design a model predictive controller for each operating point and switch between model predictive controllers at run time. The Multiple MPC Controllers block ensures bumpless control transfer from one model predictive controller to another. You can create linear plant models for controller design at each operating point either by linearizing a Simulink model with Simulink Control Design or by specifying the plant model directly.