A method, control system, and propulsion system use model predictive control to control and track several parameters for improved performance of the propulsion system. Numerous sets of possible command values for a set of controlled variables are determined. Initial constraints for the controlled variables are determined, which include upper and lower limits for each controlled variable and upper and lower rate-of-change limits for each controlled variable. A set of consolidated constraint limits for the controlled variables is then determined. Each consolidated constraint limit is determined by consolidating one of the upper and lower limits with one of the upper and lower rate-of-change limits. A cost for each set of possible command values is determined, and the set of possible command values that has the lowest cost and falls within the set of consolidated constraint limits is selected for use in controlling the propulsion system.