The problem of valve stiction is addressed, which is a nonlinear friction phenomenon that causes poor performance of control loops in the process industries. A model predictive control (MPC) stiction compensation formulation is developed including detailed dynamics for a sticky valve and additional constraints on the input rate of change and actuation magnitude to reduce control loop performance degradation and to prevent the MPC from requesting physically unrealistic control actions due to stiction. Although developed with a focus on stiction, the MPC-based compensation method presented is general and has potential to compensate for other nonlinear valve dynamics which have some similarities to those caused by stiction. Feasibility and closed-loop stability of the proposed MPC formulation are proven for a sufficiently small sampling period when Lyapunov-based constraints are incorporated. Using a chemical process example with an economic model predictive controller (EMPC), the selection of appropriate constraints for the proposed method is demonstrated. The example verified the incorporation of the stiction dynamics and actuation magnitude constraints in the EMPC causes it to select set-points that the valve output can reach and causes the operating constraints to be met. (C) 2016 American Institute of Chemical Engineers