The cascaded control method with an outer voltage loop and an inner current loop has been traditionally employed for the voltage and power control of photovoltaic (PV) inverters. This method, however, has very limited power regulation capability. With the fast increasing penetration of PV power generation systems in the distribution network, the voltage rise/drop has become a serious problem impacting negatively on the power quality and grid stability. Therefore, flexible power regulation is highly desired for PV inverters to provide ancillary services. This paper proposes a novel model predictive power control (MPPC) scheme to control and coordinate the dc-dc converter and inverter for grid-connected PV systems with energy storage systems (ESS). By regulating the dc-bus voltage and controlling the active and reactive power flows, MPPC can support the power grid to maintain stable voltage and frequency and improve the power factor. Numerical simulation and controller hardware-in-the-loop (CHIL) testing have been conducted on a PV-ESS system to verify the capability and effectiveness of the proposed control strategy.