The invention relates to changeable structure non linear model predictive controller. It is made up of online real time configuration machine, non linear model predictive control calculator, control action output processor, controlled variable constrained optimizer, and operational variable constrained optimizer. The online real time configuration machine can self organize current proper controller structure by which the non linear time lag calculating and on line real time predictive calculating can be processed. It has the features of multi predictive time domain online correction, single value predictive control, state feedback, non linear weighting, multi-cycle control etc, forms multi variable changeable structure non linear model predictive controller and control system on model and structure to adapt controlled process, make it always be in optimize running state.