This paper develops a mathematical model for a hybrid vehicle in parallel configuration and real-time control schemes with model predictive controller for this model. The model predictive control with soften constraints is used to control the output torques among the components and the speeds of each shafts in order to have fast and smooth clutch engagements for the driving comfort. Comprehensive simulations conducted in Matlab/simulink R2009a have shown that the model predictive control schemes can provide real-time optimal control actions subject to input and output constraints. © 2011 IEEE.