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The free parameters in input predictions are adapted online on the basis of the gradient of the predicted performance index and the boundary of the admissible set for an autonomous prediction system. A differential description of the admissible set boundary enables efficient detection of active constraints. The approach is illustrated via simulation examples.<\/jats:p>","DOI":"10.1137\/s0363012999358373","type":"journal-article","created":{"date-parts":[[2003,6,11]],"date-time":"2003-06-11T11:12:06Z","timestamp":1055329926000},"page":"60-82","source":"Crossref","is-referenced-by-count":12,"title":["Efficient Constrained Model Predictive Control with Asymptotic Optimality"],"prefix":"10.1137","volume":"41","author":[{"given":"Mark","family":"Cannon","sequence":"first","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Basil","family":"Kouvaritakis","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"351","published-online":{"date-parts":[[2006,7,26]]},"reference":[{"key":"R1","volume-title":"Optimal control. An introduction to the theory and its applications","author":"Athans Michael","year":"1966"},{"key":"R2","doi-asserted-by":"crossref","unstructured":"A. Bemporad, M. Morari, V. Dua, and E. 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