We present an analytical dynamic model and a general framework for the optima control design of a PEM fuel cell system. The mathematical model consists of a detailed model for the PEM fuel cell stack and simplified models for the compressor, humidifier and cooling system. The framework features (i) a detailed dynamic process model, (ii) a reduced order approximating model obtained by performing dynamic simulations of the system and (iii) the design of an explicit/multi-parametric model predictive controller. The derived explicit/multi-parametric controller is tested and validated off-line on several operating conditions. (C) 2011 Elsevier Ltd. All rights reserved.