diff --git a/docs/docs/optimization.xml b/docs/docs/optimization.xml
index 4efc3a4e2..97e4df993 100644
--- a/docs/docs/optimization.xml
+++ b/docs/docs/optimization.xml
@@ -47,6 +47,7 @@
          <item>solve_qp3_using_smo</item> 
          <item>solve_qp4_using_smo</item> 
          <item>oca</item> 
+         <item>mpc</item> 
          <item>solve_least_squares</item> 
          <item>solve_least_squares_lm</item> 
          <item>solve_trust_region_subproblem</item> 
@@ -761,6 +762,23 @@ Or it can alternatively solve:
                                  
       </component>
 
+   <!-- ************************************************************************* -->
+      
+      <component>
+         <name>mpc</name>
+         <file>dlib/control.h</file>
+         <spec_file link="true">dlib/control/mpc_abstract.h</spec_file>
+         <description>
+                This object implements a linear model predictive controller.  
+                In particular, it solves a certain quadratic program using the method
+                described in the paper:
+                <blockquote>
+                  A Fast Gradient method for embedded linear predictive control (2011)
+                  by Markus Kogel and Rolf Findeisen
+                </blockquote>
+         </description>
+      </component>
+
    <!-- ************************************************************************* -->
       
       
diff --git a/docs/docs/term_index.xml b/docs/docs/term_index.xml
index 76c4790bc..6b1e78a29 100644
--- a/docs/docs/term_index.xml
+++ b/docs/docs/term_index.xml
@@ -158,6 +158,7 @@
          <term file="optimization.html" name="solve_qp3_using_smo"            include="dlib/optimization.h"/>
          <term file="optimization.html" name="solve_qp4_using_smo"            include="dlib/optimization.h"/>
          <term file="optimization.html" name="oca"                            include="dlib/optimization.h"/>
+         <term file="optimization.html" name="mpc"                            include="dlib/control.h"/>
          <term link="optimization.html#find_min_bobyqa" name="BOBYQA"         include="dlib/optimization.h"/>
          <term file="optimization.html" name="find_max"                       include="dlib/optimization.h"/>
          <term file="optimization.html" name="find_max_single_variable"       include="dlib/optimization.h"/>