This paper presents a new robust adaptive model predictive control for a special class of continuous-time non-linear systems with uncertainty. These systems have bounded disturbances with unknown upper bound, as well as constraints on input states. An adaptive control is used in the new controller to estimate the system uncertainty. Also, to avoid the system disturbances, a H∞ method is employed to find the appropriate gain in Tube-MPC. Finally, a surge avoidance problem in centrifugal compressors is solved to show the efficiency and effectiveness of the proposed algorithm.