Abstract: The paper presents an H∞ robust model predictive control (MPC) scheme for constrained nonlinear systems subject to unknown but bounded persistent disturbances. Firstly, the notion of the input-to-state stability (ISS) for discrete-time systems is introduced; secondly, an affine input is defined to serve as the control action of MPC and an estimate solution of its terminal constrained set is addressed. Then, the robust stability of the controlled system with the mentioned scheme is achieved. Finally, a numerical simulation demonstrates the effectiveness of the proposed scheme.