diff --git a/benchmark/Project.toml b/benchmark/Project.toml
index 8393808dc..badb0aecc 100644
--- a/benchmark/Project.toml
+++ b/benchmark/Project.toml
@@ -22,6 +22,7 @@ FiniteDiff = "2.33.0"
 DAQP = "0.9.2"
 Ipopt = "1.16.0"
 JuMP = "1.32.1"
+ModelPredictiveControl = "2.15.1"
 OSQP = "0.8.1"
 SparseArrays = "<0.0.1, 1"
 MadNLP = "0.11.0"