  This paper presents a quasi time optimal receding horizon control algorithm.
The proposed algorithm generates near time optimal control when the state of
the system is far from the target. When the state attains a certain
neighbourhood of the aim, it begins the adaptation of the cost function. The
purpose of this adaptation is to move from the time optimal control to the
stabilizing control. Sufficient conditions for the stability of the closed loop
system and the manner of the adaptation of the cost function have been given.
Considerations are illustrated with examples.
  Keywords: Receding horizon control ;predictive control; nonlinear stability;
optimal control.
