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Necessary and sufficient conditions characterizing all prediction classes are developed using basic results of input-output stability. The nominal stability of the receding horizon control law is ensured through the stable input and output predictions, and a guarantee of the feasibility of the related constrained infinite horizon optimization problem is obtained. The optimization is made tractable by restricting the input predictions to a finite-dimensional subset of the admissible class and by minimizing a continuous-time cost at a set of discrete instants. 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