LI De-Wei:Ph. D. candidate in the Department of Automation, Shanghai Jiao Tong University. He received his bachelor degree from Shanghai Jiao Tong University in 1993. His research interest covers theory and algorithm of model predictive control. Corresponding author of this paper. E-mail:dwli@sjtu.edu.cn XI Yu-Geng:Professor in the Department of Automation, Shanghai Jiao Tong University. His research interest covers theory and application of predictive control, intelligent robotics. E-mail: ygxi@sjtu.edu.cn