基于阶梯化脉冲响应模型，进行一种简单预测控制器的再设计，提出了一种鲁棒预测控制器，证明了建模误差在一定范围内，可保证预测控制器是鲁棒稳定的，并使得闭环系统在存在建模误差和未知常值扰动情况下无静态跟踪误差．最后用仿真研究验证此算法的鲁棒性． Based on the stepped impulse response model, a simple predictive controller was redesigned. A robust predictive controller was proposed to prove that the modeling error was within a certain range and that the predictive controller was robust and stable. Making the closed-loop system in the presence of modeling errors and unknown constant disturbances without static tracking error. Finally, the simulation study verifies the robustness of this algorithm.