Abstract
This paper is devoted to the stabilization problem of nonlinear continuous-time systems with piecewise constant control functions. The controller is to be computed by the receding horizon control method based on discrete-time approximate models. Multi-rate - multistep control is considered and both measurement and computational delays are allowed. It is shown that the same family of controllers that stabilizes the approximate discrete-time model also practically stabilizes the exact discrete-time model of the plant. The conditions are formulated in terms of the original continuous-time models and the design parameters so that they should be verifiable in advance.