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In Model Predictive Controller (MPC) design, the traditional approach of expanding the future control signal uses the forward shift operator to obtain the linear-in-the-parameters relation for predicted output. As a consequence, in case of rapid sampling, complicated process dynamics and/or high demands on closed-loop performance, satisfactory approximation of the control signal requires a very large number of forward shift operators, and leads to poorly numerically conditioned solutions and heavy computational load when implemented on-line. In this paper, by using a performance specification on the exponential change rate of the control signal, a more appropriate expansion, related to Laguerre net-works, is introduced and analyzed. It is shown that the number of terms used in the optimization procedure can be reduced to a fraction of that required by the usual procedure. By relaxing the constraint on the …