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Heterogeneous Multi-Processor Systems on a Chip (MPSoCs) are more complex from a thermal perspective compared to the homogeneous MPSoCs because of their inherent imbalance in power density. In this work we develop TempoMP, a new technique for thermal management of heterogeneous MPSoCs which leverages multi-parametric optimization along with our novel thermal predictor, Tempo. TempoMP is able to deliver locally optimal dynamic thermal management decisions to meet thermal constraints while minimizing power and maximizing performance. It leverages our Tempo predictor which, unlike the previous techniques, can estimate the impact of future power state changes at negligible overhead. Our experiments show that compared to the state of the art, Tempo can reduce the maximum prediction error by up to an order of magnitude. Our experiments with heterogeneous MPSoCs also show that TempoMP meets thermal constraints while reducing the average task lateness by 2.5X and energy-lateness product by 5X compared to the state of the art techniques.