Efficient non-linear model based predictive control

For a large number of degrees of freedom and/or large dimension systems, no n-linear model based predictive control algorithms based on dual mode contr ol can become intractable. This paper proposes an alternative which deploys the closed-loop paradigm that has proved to be very effective for the case of linear time-varying or uncertain systems. The various attributes and co mputational advantages of the approach are shown to carry over to the non-l inear case.