This paper presents a new robust predictive controller for a special class of continuous-time non-linear systems with uncertainty. These systems have bounded disturbances with unknown upper bound as well as constraints on input states. The controller is designed in the form of an optimization problem of the 'worst-case' objective function over an infinite moving horizon. Through this objective function, constraints and uncertainties can be applied explicitly on the controller design, which guarantees the system stability. Next, LMI tool is used to improve the calculation time and complexity. To do this, in order to find the optimum gain for state-feedback, the optimization problem is solved using LMI method in each time step. Finally, to show the efficiency and effectiveness of the proposed algorithm, a surge phenomenon avoidance problem in centrifugal compressors is solved.