This paper proposes a new control approach for highly nonlinear chemical processes with operational mode changes. We combine a successive linearization and an MLD (mixed logical dynamical) formulation to transform an MPC (model predictive control) problem for a multimodal nonlinear dynamical system into an MIQP problem. We apply the proposed approach to the temperature control problem of CSTR (continuous stirred tank reactor), which is modeled as a bimodal nonlinear hybrid system. The simulation result shows a good control capability in the control of highly nonlinear hybrid systems.