A novel approach to the design of a less conservative model predictive control is proposed, using mixed H-2/H-infinity design method for time-invariant discrete-time linear systems. The controller has the form of a state-feedback, satisfies input and state constraints and is constructed from the solution of a set of feasibility linear matrix inequalities. The control law takes into account the disturbances naturally and the input constraint is less conservative in the sense that the full control is used. Numerical examples comparing the proposed algorithm with some existing techniques are provided to demonstrate the applicability and the advantage of the proposed algorithm.