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Drop-on-Demand inkjet printing is considered one of the most promising printing technologies that offers several advantages including high speed, quiet operation and compatibility with a variety of substrates. That makes it an important manufacturing technology serving a wide variety of markets. Though the performance criteria imposed by today's applications are quite tight already, the future performance requirements will be even more challenging. However, the attainable performance is limited by two operational issues that are generally encountered, namely residual vibrations and cross-talk. This paper presents an approach based on a MIMO Model Predictive Control (MPC) with which the input waveform is designed to improve the printing quality of a piezoelectric inkjet printer. The narrow-gap model is employed to predict the response of the ink channel under the application of the piezo input. Simulation and experimental results are presented to investigate the performance of the proposed approach.