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Considering the fact that the state is difficult to measure and the set value changes in actual production, as well as the nonlinear characteristics of the system itself, a robust fuzzy predictive control method with output feedback under a time-varying trajectory is proposed for the temperature control system of the beer fermentation process. Based on the mechanism model of the beer fermenter temperature system, a state-space model including uncertainty and unknown disturbances is established. The T-S fuzzy state space model with weighted coefficients is established by designing fuzzy sets. The output tracking error is introduced into the state variable to establish a new multi degree of freedom state space model. The robust model predictive control method is used to optimize the problem of parameter uncertainty, and the stability conditions in the form of linear matrix inequality are derived based on the Lyapunov stability theory. The corresponding submodel control law is calculated by solving the parameters in the linear matrix inequality, and the weight value of the designed output feedback controller is given. The simulation results verify the effectiveness and feasibility of the proposed method.