According to aspects of the embodiments, there is provided methods and systems that incorporate a model predictive controller (MPC) in an image reproduction machine with known disturbance information. The MPC uses the control action at a current time in order to minimize the impact of an impending disturbance as well as to maximize current control performance. The impending disturbance is used by the MPC to determine an incremental change that combines steady state and transient state impact on the image reproduction machine. Disturbance such as print media type, image content type, physical dimension of the print media, weight of the print media, and print job data can be employed. Further, control of the image reproduction machine is generated in real time over a receding horizon, for the purpose of minimizing a cost function indicative of image variation, energy consumption, or the like.