自抗扰控制是由我国韩京清学者创立的一种工程化的先进控制理论。控制器的设计不依赖于具体的对象模型，具有通用性强、易于工程实现等特色，在许多工程领域取得了成功应用，但是其核心环节扩张状态观测器对总扰动的估计能力有时也是有一定限度和条件的。本项目将从这一关键问题出发，将模型预测控制与自抗扰控制有机结合，提出比例积分型广义预测自抗扰控制器。 该控制器综合了两种方法的优点并具有独特的比例积分型预测反馈结构，因此在扩张状态观测器的估计出现一定偏差时，通过反馈控制器的强鲁棒性来确保闭环系统稳定。本项目将对这一新型控制方法的设计与分析开展系统性研究，获得鲁棒稳定性理论结果，并将研制的控制方法和软件在工程实际中应用，形成一种具有更强鲁棒性和适应力的工程化的控制方法与技术，为我国的尖端领域中的复杂控制问题和传统产业的提升改造提供先进控制方法与技术，同时促进模型预测控制和自抗扰控制理论的丰富发展。

Active Disturbance Rejection Control (ADRC) is an advanced engineering control theory founded by the famous scholar of Jingqing Han. The design for the controller does not depend on the specific plant model, and has the characteristics of strong universality and being easy to implement. It has been successfully applied in many engineering fields, but sometimes there are limits and conditions for the estimated capacity of the extended state observer (ESO) to the total disturbance. This project will proceed from this key issue, The proportional-integral generalized predictive active disturbance rejection control (PIGP-ADRC) is proposed based on the organic combination of model predictive control (MPC) and active disturbance rejection control (ADRC). The controller combines the advantages of the above two methods and has a unique proportional-integral predictive feedback structure, Thus the strong robustness of the feedback controller ensures the closed stability of the system when the estimation of the extended state observer have certain degree of deviation. In this project, we will systematically study the design and analysis of this new control method to obtain the robust stability analysis results. The developed control and software are applied in engineering practice to develop an engineering control method and technology with stronger robustness and adaptability. It will provide some advanced control methods and technologies for upgrading and transformation of traditional industry. At the same time, it will promotes the development of MPC theory and ADRC theory.