Many implementations of a model-based approach for toroidal plasma have shown better control performance compared to the conventional type of feedback controller. One prerequisite of model-based control is the availability of a control oriented model. This model can be obtained empirically through a systematic procedure called system identification. Such a model is used in this work to design a model predictive controller to stabilize multiple resistive wall modes in EXTRAP T2R reversed-field pinch. Model predictive control is an advanced control method that can optimize the future behaviour of a system. Furthermore, this paper will discuss an additional use of the empirical model which is to estimate the error field in EXTRAP T2R. Two potential methods are discussed that can estimate the error field. The error field estimator is then combined with the model predictive control and yields better radial magnetic field suppression.