The seminar will introduce developed principles of predictive control for hierarchical arrangement including global mechanics of controlled system and its local drives. Both linear and nonlinear approaches of model predictive control design with linkage to PID control configured from a single loop to multi-loop cascade solution. Moreover, in addition to the principles, the relating tasks such as design of motion trajectories and mathematical modelling of mechatronic and robotic systems will be presented. An overview of the principles and algorithms will be supplemented by the examples of implementation and used software tools.