Stabilization of Nonlinear Systems with State and Control Constraints Using Lyapunov-Based Predictive Control **Financial support by NSF, CTS-0129571, is gratefully acknowledged.

This work considers the problem of stabilization of nonlinear systems subject to state and control constraints. We propose a Lyapunov-based predictive control design that guarantees stabilization and state and input constraint satisfaction from an explicitly characterized set of initial conditions. An auxiliary Lyapunov-based analytical bounded control design is used to characterize the stability region of the predictive controller and also …