An apparatus for model predictive control (“MPC”) is disclosed. A method and system also perform the functions of the apparatus. The apparatus includes a measurement module that receives battery status information from one or more sensors receiving information from a battery cell, and a Kalman filter module that uses a Kalman filter and the battery status information to provide a state estimate vector. The apparatus includes a battery model module that inputs the state estimate vector and battery status information into a battery model and calculates a battery model output, the battery model representing the battery cell, and an MPC optimization module that inputs one or more battery model outputs and an error signal in a model predictive control algorithm to calculate an optimal response. The optimal response includes a modification of the error signal.