Szukana fraza: [Abstract = "In the paper, we discuss how to design a predictive controller capable of addressing a number of important issues ranging from nominal stability to the model identification\/controller design interplay. Nominal stability is ensured by resorting to Constrained Receding Horizon Predictive Control. As for robust stability, the connections between the frequency weighting P\-polynomial in the cost function and the achievable robustness against multiplicative uncertainty are investigated."]