This is a repository copy of A shifting strategy for efficient block-based nonlinear model predictive control using real-time iterations. White Rose Research Online URL for this paper: http://eprints.whiterose.ac.uk/155222/ Version: Accepted Version Article: Gonzalez, O. and Rossiter, J. orcid.org/0000-0002-1336-0633 (2020) A shifting strategy for efficient block-based nonlinear model predictive control using real-time iterations. IET Control Theory and Applications. ISSN 1751-8644 https://doi.org/10.1049/iet-cta.2019.0369 This paper is a postprint of a paper submitted to and accepted for publication in IET Control Theory and Applications and is subject to Institution of Engineering and Technology Copyright. The copy of record is available at the IET Digital Library eprints@whiterose.ac.uk https://eprints.whiterose.ac.uk/ Reuse Items deposited in White Rose Research Online are protected by copyright, with all rights reserved unless indicated otherwise. They may be downloaded and/or printed for private study, or other acts as permitted by national copyright laws. The publisher or other rights holders may allow further reproduction and re-use of the full text version. This is indicated by the licence information on the White Rose Research Online record for the item. Takedown If you consider content in White Rose Research Online to be in breach of UK law, please notify us by emailing eprints@whiterose.ac.uk including the URL of the record and the reason for the withdrawal request.