A robust feasible predictive control scheme is put forward vhich adopts nominal model and applies for constrained linear systems with polytopic uncertainty . set invariance is the theory which underlies this control profile . and the key point to this predictive control paradigm is to append robust feasible constraint in the online optimization problem 基于不变集理论，提出了一种采用标称模型的、适用于有约束凸多面体不确定线性系统的预测控制的设计框架，其关键在于在线优化问题附加适当的额外的鲁棒可行约束。
