The invention discloses an embedded MPC method based on convergence depth control. The embedded MPC method based on convergence depth control comprises the steps of off-line calculation and on-line calculation, wherein the step of off-line calculation comprises the steps of parameter calculation and internal memory distribution, and the step of on-line calculation comprises the steps of state update, constraint inspection, hot starting, QP iterative calculation and convergence depth control. According to the embedded MPC method based on convergence depth control, due to the fact that the iterative calculation process of on-line calculation can be finished in advance under the condition of a given convergence depth control threshold value through convergence depth control, the speed of on-line calculation of MPC is increased substantially, and the real-time performance of control is guaranteed; meanwhile, the time of on-line calculation can be further shortened through constraint inspection and hot starting introduced by the embedded MPC method based on convergence depth control; compared with the prior art, the embedded MPC method based on convergence depth control has the advantage that the problem that an MPC controller on an embedded platform is low in calculation speed and poor in real-time performance is well solved.