The increasing demands for reducing fuel con- sumption and emissions in contemporary technology so- lutions lead to the use of more sensors, actuators, and control applications. With this increasing engine com- plexity, the feedback design is complex due to the cou- pling between inputs and combustion parameters. To be able to design the controller systematically, model predictive control (MPC) comes to the scope because of its advantages in the design of multi-input multi- output (MIMO) systems, especially with its constraints handling ability and performance in simultaneously op- timizing the engine fuel efficiency and emission reduc- tion. Multi-injection is one of the promising techniques for achieving better engine performance. In this work, post injection control is implemented utilizing MPC MIMO strategy with the target of exploring the pos- sibility of reducing emissions and improving engine ef- ficiency by controlling post injection duration and in- jection timing. The workflow of the MPC controller de- sign, from control oriented model (COM) establishing, to MPC problem formation and solution methodology are discussed in this work. Moreover the embedded im- plementation of the MPC controller purely by Matlab Simulink for rapid control prototyping design is con- ducted. The simulation result demonstrated the ability of the controller’s tracking performance and shown con- stitute the preliminary step towards the nonlinear com- bustion model based multi-injection MPC design. The systematic model-based controller framework developed in this work can be applied to other control applications and enables a fast path from design to test.