For a class of nonlinear affine systems subject to constraints and uncertainties, a nonlinear model predictive
control algorithm is proposed to guarantee the robust stabilization of the closed-loop system. The modified Sontag formula is
made via robust control Lyapunov function, which is used to construct computationally efficient robust predictive controller
with single degree of freedom. The open-loop unstable oscillator is simulated by the tool of Matlab language, which shows
that the closed-loop control system by the control algorithm can not only asymptotic stabilize to the origin, but also the
control action and system state satisfy the system constraints. The effectiveness of the control algorithm is then verified.