InthisthesisweconsidertheproblemofdesigningandimplementingModelPredictiveControllers(MPC)forstabilizingthedynamicsofanautonomousgroundvehicle.Forsuchaclassofsystems,thenon-lineardynamicsandthefastsamplingtimelimitthereal-timeimplementationofMPCalgorithmstolocalandlinearoperatingregio