Abstract: An output feedback based robust predictive control algorithm for linear continuous-time systems with norm-bounded parameter uncertainties is presented by linear matrix inequality formulation.Based on the idea of variable transformation,the infinite time domain "min-max" optimization problems are converted into linear programming problems,a piecewise continuous output feedback control law is obtained and the sufficient conditions for the exis-(tence) of this control law are given.It is proved that the robust stability of the closed-loop systems is guaranteed by the initial feasible solutions of the optimization problems.A simulation example illustrates the efficiency of this method.