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Predicted future control trajectories are obtained by interpolating between an unconstrained optimal control law and a control law which locally stabilizes the constrained plant. Two techniques are discussed: addition of a terminal weight in the receding horizon objective, and inclusion of an explicit convergence constraint on closed-loop trajectories. The open-loop analysis is performed in order to reveal the relationship between these approaches. It is shown that the convergence constraint approach gives a smaller open-loop predicted cost and also achieves better closed-loop performance over the more conventional terminal penalty approach. 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