Controlinvariantsetsplayakeyroleinmodelpredictivecontrol.UsingLyapunovfunction,atechniqueisproposedtodesigncontrolinvariantsetsofplanarsystemsinapreciseform.First,itisdesignedforalinearsysteminBrunovskycanonicalform.Then,theresultisextendedtogenerallinearsystems.Finally,thenonlinearcontrolsystemsareconsidered,andsomesufficientconditionsanddesigntechniquesarealsoobtained.Numericalexamplesarepresentedtoillustratetheproposeddesignmethods.