提出一种基于多面体不变集的离线鲁棒预测控制器综合算法.该算法离线确定一组反馈控制律及其对应的不变集,在线控制时根据当前状态所处的位置选择相应的控制律,不仅扩大了初始可行域,还能在一定程度上改善控制性能.仿真结果表明了采用多面体不变集的优越性. This paper presents a synthesis algorithm of offline robust predictive controller based on polyhedron invariant set. The algorithm determines a set of feedback control law and its corresponding invariant set offline. When online control is adopted, the corresponding control law , Which not only expands the initial feasible region but also improves the control performance to a certain degree.The simulation results show the superiority of using the invariant set of polyhedron.