Do you have some suggestion for me to complete the MPC controller? Anything can help! For example: reference rust repo, optimization engine, optimization algori

Do you have some suggestion for me to complete the MPC controller? Anything can help! For example: reference rust repo, optimization engine, optimization algorithm (linear / nonlinear). For nonlinear I am deciding between panoc and admm. It is hard to demonstrate MPC in a simplistic way, but I want to take the challenge!