For polytopic uncertain systems with unmeasurable system states, a synthesis of output feedback robust model predictive control (OFRMPC) is proposed, which adopts a category of dynamic output feedback controller. In order to improve the utilization of the actuator capability, the saturation function is applied to the output of the dynamic output feedback controller. Based on it, the OFRMPC is proposed with an online update algorithm of the estimated error set. All the designs are verified to considerably improve the control performance. Meanwhile, a simplified design of OFRMPC is also developed to make the proposed design more practical. (C) 2013 Elsevier Ltd. All rights reserved.