System, apparatus, and methods are disclosed for a computing a first set of parameters based on operational states of an internal combustion engine and an air handling system, a second set of parameters based on a linear time varying model, and one or more control commands based upon a minimization or maximization of a cost function over a prediction horizon, the second set of parameters, and at least one physical constraint of the internal combustion engine, and controlling one or more operations based at least in part upon the one or more control commands. The acts of determining the first and second set of parameters and computing the one or more control commands are repeated over a plurality of time periods over which the first set of parameters and the second set of parameters are time variant.