I've worked on MPC extensively, for autonomous driving application, for predicting velocity control optimization. I've used inbuilt solvers e.g. fmincon, as well as CVX for runtime efficiency.
For optimization, I've worked mostly on nonlinear cost functions and constraints. So, even if you're using black box tuning or have coded it from scratch, I guess I'll be able to help.
Kindly share your code, and your concerns. Preferably un a zip file with an attached docx.
ABOUT ME
I'm a research assistant working in controller design and theory for robotics application.
Platform
MATLAB R2017a
Deliverables
Mention them clearly, code, figures, report etc.
Kindly initiate a chat with above details. If offline, I shall reply ASAP. Thank you! Be safe during this ongoing pandemic.