It is known that nonlinear sampled-data control sometimes shows chaoti
c behavior. In this paper, chaos in an adaptive model predictive contr
ol system has been studied. The closed-loop behavior of the system is
represented by a discrete dynamical system with a rational function of
state variables. Several characteristics of the chaos in the system h
ave been identified by providing bifurcation diagrams, attractors in t
he phase space, stable and unstable manifolds, and Lyapunov exponent.