Model-Predictive Control (MPC) is one of the most advanced control technique nowadays. Indeed, MPC approaches are well known for their robustness and stability properties. Nevertheless, Nonlinear Model-Predictive Control (NMPC), the extension of MPC in the nonlinear world, still poses challenging theoretical, computational and implementation issues. By the help of validated simulation, which can handle nonlinear models, a new algorithm for a robust by-construction control strategy based on NMPC is proposed.