In this work, a method is presented for obtaining the explicit robust model-based tracking control law for constrained dynamic systems. The proposed control scheme guarantees optimal and feasible operation under the presence of unknown bounded input uncertainties by introducing in the controller design stage a set of feasibility constraints and employing an estimation scheme for ensuring robust offset free output tracking. The controller features a simple structure that is derived off-line via parametric programming prior to any process implementation. (C) 2002 Elsevier Ltd. All rights reserved.