针对一类输入和状态受约束的离散线性系统,提出一种基于N步容许集的变终端约束集模型预测控制方法.首先给出多面体不变集序列作为终端约束集的离线模型预测控制算法,扩大了终端约束集.为进一步扩大初始状态可镇定区域,引入N步容许集,设计了基于容许集的变终端约束集模型预测控制方法.该算法采用离线设计、在线优化方法,实现了系统渐近稳定,不仅降低了在线运算量,而且扩大了初始状态可镇定区域.仿真结果表明了算法的有效性. Aiming at a class of discrete linear systems with inputs and states constrained, this paper proposes a predictive control model of variable-terminal constraint set model based on N-step tolerance set.Firstly, an offline model predictive control algorithm with polytope invariant set sequence as terminal constraint set is given, And expand the terminal constraint set.To further expand the initial state can be stabilized region, the introduction of N-step tolerance set, the design of a variable terminal constraint set model predictive control method based on allowable set.This algorithm adopts off-line design, on-line optimization method, the realization of the system gradually Nearly stable, not only reduces the amount of online computation, but also expands the initial state can stabilize the region.The simulation results show the effectiveness of the algorithm.