Abstract: This paper presents a control design method for a class of system with modeling uncertainties or nonlinearities.The proposed controller has a paralleled structure of model-based Generalized Predictive Controller（GPC） and PID controller.It can make full use of the model information，meanwhile resisting disturbance and overcoming the structure uncertainty and nonlinearity in a certain degree.The simulation and comparison with other control methods show that this method has better tracking performance，disturbance resistance，robustness and great feasibility to be implemented in engineering application.

摘要： 针对控制对象存在模型不确定性及非线性的特点，提出了基于带有权重的广义预测控制GPC和PID控制并联控制的控制器设计方法。该方法不仅能够充分利用控制对象的模型信息，而且能在一定程度上克服模型中存在的结构不确定性及非线性，并且具有很好的抗干扰能力。还通过仿真实例与其他控制方法对比，结果表明该方法控制精度高，鲁棒性及抗干扰能力较强并具有工程应用实施的可行性。