To solve the control problem of complex nonlinear system, a sliding mode predictive control based on lazy
learning(LL-SMPC) is proposed. The LL-SMPC builds the local model on-line based on lazy learning algorithm and
obtains the optimal control law by solving the quadratic optimization problem formulated in sliding mode predictive control
framework, therefore it has strong adaptive and anti-jamming ability. Furthermore, the searching efficiency is improved by
using hierarchical searching strategy, and the computation complexity is decreased by avoiding the solving of Diophantine
equation. Simulation results show the effectiveness of the proposed method.