以鲁棒控制不变集作为预测控制的终端约束集,设计了一种新的鲁棒预测控制算法.将预测控制在不同采样点的待优化控制律考虑为线性反馈控制律,并通过在线优化求解线性反馈增益.从理论上证明了若采用所设计的鲁棒预测控制器,则系统是输入状态稳定的.最后通过计算机仿真验证了所提出设计方法的可行性. A new robust predictive control algorithm is designed by using the robust control invariant set as the terminal constraint set of predictive control. The control law of predictive control at different sampling points is considered as a linear feedback control law, and by online optimization The linear feedback gain is solved, and it is theoretically proved that if the robust predictive controller is designed, the input state is stable. Finally, the feasibility of the proposed design method is verified by computer simulation.