The model predictive control (MPC) of stable linear systems with model uncertainty is addressed. A strategy is proposed to extend existing robust controllers that were developed for the regulator problem, to the general case in which the system equilibrium point is unknown. Nominal stability is obtained with the consideration of an infinite output horizon. The method is based on a state-space model formulation that allows a straightforward solution to the Lyapunov equation. The method is detailed for two particular controllers of the robust MPC literature. Simulation examples illustrate the performance of the proposed approach and demonstrate that it can be implemented in real applications. (C) 2004 American Institute of Chemical Engineers.