A Model predictive control of the thermal dose in hyperthermia has been applied, using Pennes bio heat transfer function which is a diffusion equation as a plant model. First the dynamic model is derived from direct discretization of the Pennes bioheat equation. Here in, the propose approach is used to optimize the thermal dose of a simple scanned focused ultrasound transducer that satisfies the following aims as rising temperature of tumor region to 43 °c and keep it uniform during treatment, keeping the temperature of normal region near its initial value and using the minimum amount of energy. Also the uncertain biological parameters are considerate in the model of system. The simulations demonstrate that the mentioned aims are satisfied and also the propose approach can stabilize the controller in admissible maximum bound of plant uncertainties. Finally the dynamic model of system is used in a Kalman filter setting for temperature tracking at each discrete grid point as the measurements.

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