A new type of voltage controller is designed based on model predictive control in this paper. When the voltage follows caused by disturbs, the controller can restore the system voltage and maintain the voltage margin through coordinating reference voltages setting and the reactive power of shunt capacitor. In the dynamic optimization model, it considers the voltage derivation and control costs in the objective function, and the inequality constrains voltage magnitude and stability margin. To enhance computational efficiency of solving this optimization model, direct dynamic optimization method is used to convert this model into a nonlinear programming problem which can be solved using the interior-point algorithm given by AMPL as a mathematical optimization solver. Simulation results on New England 10-machine 39-bus system verify effectiveness of the proposed method.