SUMMARY
Motivated by applications such as drainage canal control, where the disturbance acting on a system can be predicted on the basis of weather forecast, we propose a model predictive control technique consisting in the online tuning of a Youla–Kučera parameter. Essentially, the optimal control sequence is supplied to the system by properly setting the coefficients of the Youla–Kučera parameter taken as a finite impulse response, whose length depends on that of the optimal trajectory. Stability is guaranteed for any arbitrary choice of the time‐varying coefficients that are adapted to the current forecast of disturbance. The approach is illustrated by numerical simulations of a drainage canal control system. Copyright © 2012 John Wiley & Sons, Ltd.