Lithium-ion (Li-ion) batteries play a substantial role in portable consumer electronics, electric vehicles and large power energy storage systems. For Li-ion batteries, developing an optimal charging algorithm that simultaneously takes rises in charging time and charging temperature into account is essential. In this paper, a model predictive control-based charging algorithm is proposed. This study uses the Thevenin equivalent circuit battery and transforms it into the state-space equation to develop the model predictive controller. The usage of such models in the battery optimal control context has an edge due to its low computational cost, enabling the realization of the proposed technique using a low-cost Digital Signal Processor (DSP). Compared with the widely employed constant current-constant voltage charging method, the proposed charging technique can improve the charging time and the average temperature by 3.25% and 0.76%, respectively.