So I've recently become interested in control theory, and I understand how PID control systems work. But I can't seem to find any examples of a model predictive control scheme. Apparently, they have the potential to be more accurate than PID, but they have to be modeled differently depending on what system they are being applied to. Is this right? And also, can someone give me an example of how a model predictive control scheme would be implemented? Say like, how would you use an MPC scheme to keep a Segway upright?