This paper describes a new robust controller based on Model Predictive Control (MPC). MPC is one of the useful control methods because it enables to design time response intuitively and to consider the constraint of state and input. However. MPC does not have robustness against modeling errors and disturbances due to the use of a predictive model without considering these uncertainties. https://hollandscountryclothinges.shop/product-category/gun-slings/