Abstract: The rotating system of the fixed rudder canards in the dual-spin trajectory correction projectile is a typical nonlinear system with parametric uncertainties and uncertain nonlinearities. A direct model predictive control (DPC) based on the output-feedback extended state observer (ESO) was proposed for rotation speed control. The general disturbance was estimated and added to the controller design as feedforward compensation by ESO while DPC completed rotating speed prediction and control based on the compensated dynamic roll model. The time-varying nonlinear parameters were linearly processed in the extremely short state update time interval to decrease the computation amount, where the complex integral traversal operation was converted into a low-order equation solution problem. The simulation results reveal that the proposed method can accurately estimate the system states and disturbance, and hence it possesses the advantages of high accuracy, rapid response, strong robustness and adaptability.