A robust model predictive control method is presented with an appropriately constructed robust contractive set as the terminal set of its optimization problem and with the cost function formulated from the gauge function of this set regarding state variable 以鲁棒可控收缩集作为预测控制在线优化问题的终端约束集,并用基于该集合的尺度函数构造成本函数,从而得到一种基于线性规划的鲁棒预测控制方法。