  This paper introduces a continuous-time constrained nonlinear control scheme
which implements a model predictive control strategy as a continuous-time
dynamic system. The approach is based on the idea that the solution of the
optimal control problem can be embedded into the internal states of a dynamic
control law which runs in parallel to the system. Using input to state
stability arguments, it is shown that if the controller dynamics are
sufficiently fast with respect to the plant dynamics, the interconnection
between the two systems is asymptotically stable. Additionally, it is shown
that, by augmenting the proposed scheme with an add-on unit known as an
Explicit Reference Governor, it is possible to drastically increase the set of
initial conditions that can be steered to the desired reference without
violating the constraints. Numerical examples demonstrate the effectiveness of
the proposed scheme.
