  We propose a receding horizon control strategy that readily handles systems
that exhibit interval-wise total energy constraints on the input control
sequence. The approach is based on a variable optimization horizon length and
contractive final state constraint sets. The optimization horizon, which
recedes by N steps every N steps, is the key to accommodate the interval-wise
total energy constraints. The varying optimization horizon along with the
contractive constraints are used to achieve analytic asymptotic stability of
the system under the proposed scheme. The strategy is demonstrated by
simulation examples.
