Abstract: A robust MPC(model predictive control) scheme with stability guaranteed is proposed for a class discrete-time PWA(piecewise affine) systems subject to constraints on states and inputs with additional bounded disturbances.A contractive sequence of robust stabilizable sets are computed off-line using multi-parametric programming with one-step predictive horizon.By incorporating this sequence as a stabilizing constraint in the optimization problem and choosing a robust positively invariant set as a terminal constraint,the feasibility of the optimization problem guarantees the robust stability.A numerical example shows that the proposed controller asymptotically stabilizes the system to a robust positively invariant set.