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Finite-set model predictive controls have been widely used in inverter control because of the flexible target control and no need of a modulation unit. However, the mismatching of prediction model parameters produces prediction errors, resulting in a significant decline in the performance of finite-set model predictive controls. Aiming at the problem of model parameter mismatch, an extended-state observer was proposed to accurately estimate the disturbance of the system in this paper, and the obtained disturbance value was added to a finite-set model predictive control controller to compensate for the prediction error and achieve parameter robustness. By constructing a prediction model of the inverter output voltage in αβ coordinates, all the possible output voltage values were predicted by using different voltage vectors and system measurement values. A set of voltage vectors that minimized the cost function was selected, and its corresponding switching state was applied to the inverter in the next sampling period to achieve control of the output voltage quality. Both the simulation and experimental results showed that the finite-set model predictive voltage control method based on the extended-state observer can estimate the total disturbance quickly and accurately, suppress the influence of capacitance parameter disturbance, and improve the control effect of an inverter.