  Model Predictive Control (MPC) for tracking formulation presents numerous
advantages compared to standard MPC, such as a larger domain of attraction and
recursive feasibility even when abrupt changes in the reference are produced.
As a drawback, it includes some extra decision variables in its related
optimization problem, leading to a semi-banded structure that differs from the
banded structure encountered in standard MPC. This semi-banded structure
prevents the direct use of the efficient algorithms available for banded
problems. To address this issue, we present an algorithm based on the
alternating direction method of multipliers that explicitly takes advantage of
the underlying semi-banded structure of the MPC for tracking.
