In this paper, a new formulation of constrained stabilizing receding-horizon control is proposed. This formulation is based on the use of open-loop steering path generators. The open-loop optimization problem associated to the proposed receding-horizon formulation is scalar in which the optimization variable is the prediction horizon length. Stability is proved in a sampling control scheme. A simple example is given to illustrate the main concepts. (C) 2003 Elsevier Ltd. All rights reserved.