Due to uncertainties in the parameters of the valve-controlled cylinder system and the presence of external disturbances, the force loading performance is compromised, particularly when subjected to extreme conditions involving positional perturbations of the load-bearing system. To tackle this issue, this study presents a robust model predictive control strategy. Initially, a novel linear parameter time-varying system model is developed for precise force loading control of the valve-controlled cylinder, considering both the system's motion characteristics and parameter uncertainties arising from aging and wear. Subsequently, leveraging the proposed robust model predictive controller, we employ linear matrix inequality (LMI) techniques to solve the optimization problem. Through simulation experiments, the effectiveness of the proposed robust control strategy is demonstrated in terms of enhancing force tracking accuracy and ensuring the stability of the force loading system. Additionally, the proposed robust controller exhibits superior performance in attenuating parameter uncertainties and external disturbances.