Introduction and motivation (Why control & why feedback? ; Predictive control as a feedback strategy ) - Constrained LQR (CLQR) to Quadratic Program (QP) (Sampled-data CLQR and equivalent discrete-time CLQR ; Non-condensed and condensed QP formulations) -- Algorithms for solving QP (Interior point methods ; Exploiting structure of QP) - Hardware issues (Interaction between algorithm choice and hardware ; Parallel computation and pipelining) - Wrap-up and questions