Simulating MR Damper in Model Predictive control

Hi All,

I have been trying to use MPC (Model Predictive Control) for controlling 2 degrees of freedom system (quarter vehicle) with semi-active damper (MR damper) to minimize the verical virbartion on the sprung mass. Since the mathematical modeling for the MR damper is nonlinear. I am not sure which is convenient to use as an app for simulation (mpc, adaptive mpc, nonlinear mpc)?

Thanks