To solve the problem of large steady-state error and poor parameter robustness of MPFC system predicted by traditional model of PMSM (permanent magnet synchronous motor), a multi-voltage vector selection method based on stator flux prediction error vector analysis was proposed. Firstly, the multi-voltage vector selection criteria for determining the region where the flux error vector is located were established by dividing the sectors according to the axis in the two-phase stationary coordinate system. Then, the predicted value of stator flux and the value function of stator flux in two-phase stationary coordinate system were used to calculate the action time of each voltage vector. In addition, a discrete sliding mode stator flux observer considering the mismatch of resistance and inductance parameters was designed, which further improves the parameter robustness of the system. Finally, the effectiveness and feasibility of the proposed predictive stator flux control method are verified by simulation and experiments. The proposed method still has good steady-state performance under the condition of system parameter mismatch, and significantly reduces the stator flux and electromagnetic torque ripple.