This paper combines the previous work of single-variable generalized predictive control based on Hammerstein model and bilinear model with multi-variable generalized predictive control to develop robust nonlinear predictive control approach. The generalized nonlinear controlled auto regressive integral moving average model is discussed first. 本文将基于Hammerstein模型、双线性模型等特定非线性模型的单变量广义预测控制与等维多变量广义预测控制相结合,进行了总结归纳和推广,应用于一类输入输出等维的可分离非线性系统。