# MPC controller for UR5e

**URL:** <https://forum.universal-robots.com/t/mpc-controller-for-ur5e/34252>\
**Category:** General Application Help: How do I?\
**Created:** [May 16, 2024, 4:22pm UTC](https://forum.universal-robots.com/t/mpc-controller-for-ur5e/34252 "2024-05-16T16:22:39Z")\
**Posts on this page:** 1\
**Page:** 1

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**Author:** ![1996srini](https://avatars.discourse-cdn.com/v4/letter/1/4491bb/32.png) [@1996srini](https://forum.universal-robots.com/u/1996srini)\
**Post date:** [May 16, 2024, 4:22pm UTC](https://forum.universal-robots.com/t/mpc-controller-for-ur5e/34252/1 "2024-05-16T16:22:39Z")

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Hello,

I have to implement a MPC controller for UR5e robot in MATLAB. I am sure somebody would have implemented it before but I could not find any resources. I am finding it difficult to create a state space model. Is there any guide or repository available?

Thanks