本文采用滤波CARMA模型,基于内模原理,提出了一种新的广义预测鲁棒自适应控制器,并分析了闭环系统性能,在新的控制器中,引入适当的前馈作用,使得跟踪和调节问题解耦,利用部分状态跟踪、模型参考以及极点配置方法解决跟踪问题,利用多步预测滚动优化方法解决调节问题;适当选择滤波器可以保证对平稳随机扰动有满意的响应,减少可调参数对闭环系统响应的影响,增强系统对未建模动态的鲁棒性,仿真结果表明:该控制器对确定性和非平稳随机扰动具有不变性,对系统时延和阶次变化具有鲁棒性,适用于非最小相位和开环不稳定系统。 In this paper, a new generalized predictive robust adaptive controller based on the internal model theory is proposed based on the filter CARMA model. The performance of the closed-loop system is analyzed. In the new controller, an appropriate feedforward function is introduced to make the tracking and The problem of decoupling is solved by using the state tracking, the model reference and the pole placement method. The multi-step predictive rolling optimization method is used to solve the adjustment problem. Appropriate selection of the filter can ensure a satisfactory response to the stationary random perturbation and reduce the number of adjustable parameters And the robustness of the system to unmodeled dynamics is enhanced. The simulation results show that the proposed controller is invariant to deterministic and non-stationary stochastic disturbances and robust to system delay and order changes , For non-minimum phase and open-loop unstable system.