1. A neural-Model Predictive Control (MPC) controller, comprising: one or more non-transitory electronic processors, the non-transitory electronic processors configured to perform operations of: receiving, in a forward module, a measurement of a current state of a plant and a control signal from a base controller to generate a forward module prediction; receiving, in a forward module corrector, the measurement of the current state of the plant and the control signal to generate an additive correction to the forward module prediction to generate a predicted plant state; generating control sequences of pairs of control signals and corresponding predicted plant states; and generating a next plant control signal based on the control sequences.