NMPC to control the dynamics of a differential drive mobile robot

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Hello fellow optimizers. 

My question is maybe out of this group's scope but im desperate 

I implemented a NMPC controller to control the Differential drive mobile robot kinematics, but now i wish to control the dynamics, i am lost, in the kinematics we control v and omega of the robot to get the pose ( x,y, theta), but in dynamics, should we keep controlling v and omega in addition to torques, or are torques enough. 

best regards