针对多包描述线性离散不确定系统,提出一种在系统状态不可测时的直接约束鲁棒预测控制算法.将控制器与观测器综合设计,利用观测状态直接构造性能指标,通过求解无穷时域性能指标的最小最大优化问题,得到系统的最优状态反馈控制律.采用参数依赖Lyapunov函数,在满足输入和状态约束的情况下保证闭环系统稳定.仿真结果验证了算法的有效性. Aiming at the multi-package linear discrete uncertain system, a direct constrained robust predictive control algorithm is proposed when the system state is not measurable. The controller and observer are designed comprehensively, and the performance indicators are directly constructed by observing state. And the optimal state feedback control law of the system is obtained.The parameter-dependent Lyapunov function is used to ensure the closed-loop system is stable under the input and state constraints.The simulation results show the effectiveness of the algorithm.