Model predictive control help

How to write a script for single mpc controller to multiple sysytems? then plot the response in same graph and differentiate the system dynamics.The above figure for PID likewise for MPC anf commands or codes?

[Sam Chak]

@K Kalanithi, could you please provide your MATLAB code for simulating the responses and plotting the graph? I'll then explore how to replace the single PID controller with a Model Predictive Controller.