he data of this prise a set containing all possible initial states at the initial time t0, a vector xt0 that is the state of the plant measured at time t0, a given function Рof possible control values.РWe assume this system to be asymptotically controllable on X0 and that for all t ≥ 0 f(t, 0, 0) = 0. We further assume that the function f is continuous and locally Lipschitz with respect to the second argument.Р The construction of the feedback law is plished by using a sampleddata MPC strategy. Consider a sequence of sampling instants π:= {ti}i≥0 with a constant inter-sampling time δ> 0 such that ti+1 = ti+δ for all i ≥ 0. Consider also the control horizon and predictive horizon, Tc and Tp, with Tp ≥ Tc > δ, and an auxiliary control law kaux : IR×IRn → IRm. The feedback control is obtained
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