Electromechanical actuators are widely used in many industrial applications.There are usually some constraints existing in a designed system.This paper proposes a simple method to design constrained controllers for electromechanical actuators.The controllers merge the ideas exploited in internal model control and model predictive control.They are designed using the standard control system structure with unity negative feedback.The structure of the controllers is relatively simple as well as the design process.The output constraint handling mechanism is based on prediction of the control plant behavior many time steps ahead.The mechanism increases control performance and safety of the control plant.The benefits offered by the proposed controllers have been demonstrated in real-life experiments carried out in control systems of two electromechanical actuators:a DC motor and an electrohydraulic actuator. Electromechanical actuators are widely used in many industrial applications. These are usually some constraints existing in a designed system. This paper proposes a simple method to design constrained controllers for electromechanical actuators. These controllers merge the ideas exploited in internal model control and model predictive control. They are designed using the standard control system structure with unity negative feedback. The structure of the controllers is relatively simple as well as the design process. The output constraint handling mechanism is based on prediction of the control plant behavior many time steps ahead. The mechanism增增 控制 and safety of the control plant.The benefits offered by the contrived controllers have been demonstrated in real-life experiments carried out in control systems of two electromechanical actuators: a DC motor and an electrohydraulic actuator.