MPC can only be used with no separation, and bonded type - so there are no examples on what you are asking for since we can not use it say with a frictional/frictionless/rough (nonlinear) contact. Below is a screenshot from the mechanical users guide, contacts, and advanced settings, and formulation:
(See below - when choosing contacts such as frictional, rough, or frictionless (nonlinear types), then MPC formulation (in yellow) is not a valid option) For more info look for the mechanical users guide, object reference, contact region, object properties - most structural analyses, and formulation. Finally we do have a nice course in contacts which I would like to recommend .
All the best
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