The two-step model predictive control is designed for input saturated Hammerstein systems. It first applies the unconstrained linear dynamic subsystem to get the desired intermediate variable, and then obtains the actual control action by solving nonlinear algebraic equation group and desaturation. The stability of the closed-loop system is analysed and its domain of attraction is designed applying semi-global stabilization techniques. The stability conclusions are illustrated with an example. Copyright # 2006 John Wiley & Sons, Ltd.