In model predictive control system, the large amount of calculation could lead to action delay and the error would be introduced to system due to the inaccuracy discrete method. Under the condition of large sample time, the two conditions above would lead to a bad performance of the system. To solve the problem, the bilinear transformation method was taken to obtain a more accurate discrete model of motor. And this discrete method could guarantee the stability of system. Delay compensation was introduced to the system to reduce the current ripple due to the problem of action delay. Simulation and experiment results showed that the predictive system above had the advantages of better dynamic track performance, little current ripple and strong resistance to load disturbance.