Trajectory Tracking of a Robotic Arm using Model Predictive Control.

I want to track a polynomial trajectory by a robotic arm using model predictive control. I am writing my code by following the book "Model Predictive Control System Design and Implementation Using MATLAB® Liuping Wang." Setpoint control is given in this book in the first chapter that I am following. But how to track a time-varying trajectory, I am not getting how to code it. I am following the codes given in the first chapter of the book, and for optimization, the cost function is the same as in the chapter and for a solution using the quadprog function. Please share it with me if anyone has any reference code for this or any other material or pseudo code. It would be a great help to me.