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This work deals with the problem of trajectory tracking for a nonlinear system with unknown but bounded model parameters uncertainties. First, this work focuses on the design of classical robust nonlinear model predictive control (RNMPC) law subject to model parameters uncertainties implying solving min-max optimization problem. Secondly, a new approach is proposed, consisting in approaching the basic min-max problem into a more tractable optimization problem based on the use of linearizationdoi:10.1109/cdc.2016.7798882 dblp:conf/cdc/BenattiaTD16 fatcat:gsg4gsduzrcfxdifk7mmv46pgy