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This paper deals with state feedback control of chained systems based on a Nonlinear Model Predictive Control (NMPC) strategy. Chained systems can model many common nonholonomic vehicles. We establish a relation between the degree of nonholonomy and the minimum length of the control horizon so as to make the NMPC feasible. A necessary condition on the control horizon of NMPC is given and theoretically proved whatever the dimension of the chained system considered. This relation is used todoi:10.1109/icra.2012.6224935 dblp:conf/icra/CourtialFA12 fatcat:wu3zbgbhdrdwzen3qmqmkds2tu