Model predictive controllers (MPC) with the two-loop scheme are successful approaches practically and can be clas-sified into two main categories, tube-based MPC and MPC-based reference governors (RG). In this paper, an enhanced two-loop MPC design is proposed for a pre-stabilized system with the bounded uncertainty subject to the input and state con-straints. The proposed method offers less conservatism than the tube-based MPC methods by enlarging the restricted input con-straint. Contrary to the MPC-based RGs, the investigated method improves tracking performance of the pre-stabilized system while satisfying the constraints. Additionally, the robust global asymptotic stability of the closed-loop system is guaranteed in a novel procedure with terminal constraint relaxation. Simulation of the proposed method on a servo system shows its effectiveness in comparison to the others.