Abstract: Efficient robust predictive control (ERPC) is a robust model predictive control (MPC) algorithm which has low online computation burden and good control quality. But the past design methods of ERPC are conservative, which adopt one invariant ellipsoidal set. In this paper, a new design method of ERPC controller is proposed. Based on the amplitude decaying aggregation, we offline design two invariant ellipsoidal sets whose projections are vertical in the system state space and online design the two ellipsoids with convex combination. The new controller has a larger origin attraction region and can improve the control quality to some extent.