Pii: S0959-1524(98)00045-6

A strategy based on Nonlinear Programming (NLP) sensitivity is developed to establish stability bounds on the plant/model mismatch for a class of optimization-based Model Predictive Control (MPC) algorithms. By extending well-known nominal stability properties for these controllers, we derive a sucient condition for robust stability of these controllers. This condition can also be used to assess the extent of model mismatch that can be tolerated to guarantee robust stability. In this derivation we deal with MPC controllers with ®nal time constraints or in®nite time horizons. Also for this initial study we concentrate only on discrete time systems and unconstrained state feedback control laws with all of the states measured. To illustrate this approach we give two examples: a linear ®rst-order dynamic system and a nonlinear SISO system involving a ®rst order reaction. # 1999 Elsevier Science Ltd. All rights reserved.