MPC use case

@agustinyabo should be rather easy to test MPC (fixed / moving horizon) implementing a basic loop (see, *e.g.*, this [simple example](https://github.com/pns-mam/commande/blob/master/tp3/navigation-mpc-sol.ipynb)) on the nice example you treated in the ref. below:

Yabo, A.; Caillau, J.-B., Gouzé, J.-L.
[Hierarchical MPC applied to bacterial resource allocation and metabolite synthesis](http://caillau.perso.math.cnrs.fr/research/cdc-2021b.pdf)
*IEEE Conference on Decision and Control* (2021), 667-672
Proceedings of the 60th CDC, Austin, December 2021