In this paper, attitude tracking control problem for a flexible satellite with torque constraints is investigated. Model Predictive Controller (MPC) is designed to investigate performance and advantages of MPC. Controller is simulated to track dynamically changing reference attitude in quaternion. Some controller parameters like horizon length, weight matrices, sampling time, input constraints are tuned to achieve preliminary optimizations and effects on desired behaviour, in a 3 dimensional, quaternion based approach. Simulation results show that MPC can track desired attitude while desired attitude is varying with time. Results also show that torque limit constraints are satisfied during simulation.