Considering a robust control invariant set as the terminal constraint set of model predictive control(MPC), a
robust MPC is designed. The controller to be optimized of MPC at different sampling time is considered as linear feedback
controller. Then, the linear feedback gain is obtained through online optimization. The system is proved to be input-to-state
stable by using this robust model predictive controller. Finally, computer simulation shows the feasibility of the proposed
method.