I-MPC (i-Model Predictive Control) inkqubo yokulawula ngokuzenzekelayo kwiiyunithi zokuhlukana komoya ilungiselela ukusebenza ukuze kufezekiswe: ulungelelwaniso olulodwa lwesitshixo sokulungelelaniswa komthwalo, ukulungiswa kweeparitha zokusebenza kwiimeko ezahlukeneyo zokusebenza, ukunciphisa ukusetyenziswa kwamandla ngexesha lokusebenza kwesixhobo, kunye nokunciphisa ubuninzi bokusebenza.