arXiv:2610.06976v1 Announce Type: new Abstract: Safety-critical Model Predictive Control (MPC) formulations based on Control Barrier Functions (CBFs) often require multiple tuning parameters and may become conservative or difficult to keep feasible, particularly for high-relative-degree constraints. To address these limitations, in this paper we draw inspiration from the recently introduced Taylor-Lagrange Control (TLC) method, and propose an MPC formulation based on a Taylor expansion with Lagrange remainder (MPC-TLR). To enable digital implementation, we develop a numerical approximation of the Lagrange remainder under zero-order-hold control. The resulting safety constraint includes a tunable margin to account for approximation errors and balance safety, feasibility, and conservativeness. Comparisons with MPC using high-order CBFs (MPC-HOCBF), discrete-time high-order CBFs (MPC-DHOCBF), and direct safety constraints (MPC-DC) on a unicycle obstacle-avoidance problem show that MPC-TLR yields safer trajectories than MPC-DHOCBF and MPC-DC, while requiring fewer tuning parameters and being less conservative than MPC-HOCBF. Its broader control-input coverage under the adopted discretization can improve feasibility and control performance for short prediction horizons.