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The corresponding operating region of the considered systems in state space is described as ellipsoid which can be characterized by a set of vector inequalities. And the constrained control input of the considered systems is solved in terms of linear matrix inequalities (LMIs). An MPC controller is designed that will move the PWA system with time delay from the current operating point to the desired one. Multiple objective functions are used to relax the monotonically decreasing condition of the Lyapunov function when the control algorithm switches from a quasi-infinite horizon to an infinite horizon strategy. The simulation results verify the effectiveness of the proposed method. It is shown that, based on LMI constraints, it is easy to get the MPC for the PWA systems with time delay. 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