With　the　continuously　growing　demand　of　the　voltage-sourced　converter-based　high-voltage　direct　current　(VSC-　HVDC)　transmission,　modular　multilevel　converter　(MMC)　achieves　great　attentions　in　VSC-HVDC　system.　Circulating　current　eliminating　and　sub-module　capacitor　voltage　balancing　is　one　of　the　main　technical　challenges　associated　with　the　control　of　MMC.　The　discret　mathematic　model　of　the　modular　multilevel　converter　based　HVDC　(MMC-HVDC)　system　is　derived,　and　an　improved　model　predictive　control　(MPC)　strategy　with　engineering　value　is　proposed　for　five-level　MMC.　The　sub-module　voltage　ripple　is　reduced　by　introducing　the　error　factor.　Furthermore,　the　combination　of　MPC　and　voltage　sequencing　algorithm　reduces　the　computation　burden,　and　realizes　the　transmission　power　control　in　MMC-HVDC　system,　circulating　current　eliminating,　sub-module　capacitor　voltage　balancing.　Simulation　results　validate　the　proposed　control　strategy.