Abstract: In unified predictive control (UPC), different controllers are designed under a unified frame, so that the difficulty of comparing control results of controllers designed in a general way is overcomed and the cost of design is reduced considerably. UPC is a good predictive control method to SISO system. The effect of design parameters and the model matching property on tracking performance and robust performance of a UPC close-loop systems is further analyzed in details using internal model control structure. The unique advantages of internal model control when applied to predictive control are demonstrated. Some simulation results are shown in the end.