This paper presents the development and results of rate-based model predictive control (RB-MPC) for a diesel engine air path. The objective is to regulate the intake manifold pressure and the exhaust gas recirculation (EGR) flow estimate to the specified set-points by coordinated control of the Variable Geometry Turbine (VGT), EGR valve, and EGR throttle actuators. We present steps by which we arrive at a controller that has low computational complexity, good tracking performance, and capability to enforce multiple constraints. Through the employed strategies, the need to cover the operating range with multiple linear models and to use a complicated switching controller structure is avoided. Simulation and experimental results are presented that demonstrate the ability of RB-MPC to follow specified set-points while satisfying state and control constraints throughout the engine operating range.