针对开环稳定的单变量系统 ,提出了一种简单可行的三角化脉冲响应近似模型 ,改进了A。str¨om的简化模型 .进而设计鲁棒扩展时域预测控制器 .此控制器只需辨识一个脉冲响应值即可 ,大大减少了计算量 .同时给出了在模型失配情况下保证闭环系统全局渐近稳定的预报长度范围和模型失配上限值 .仿真结果表明此方法的有效性和鲁棒性 . Aiming at the single-variable system with open-loop stability, a simple and feasible approximation model of triangular impulse response is proposed. str ¨ om a simplified model.Furthermore, we design a robust extended time-domain predictive controller, which can recognize only one impulse response value and greatly reduce the computational complexity.At the same time, The global asymptotic stability of the prediction length range and the upper bound of the model mismatch.The simulation results show the effectiveness and robustness of this method.