Combined with generalized predictive control(GPC) method and PID feedback structure, a PID controller which
has predictive function is presented. The PID parameters can be adjusted according to the future output error. The controller
outputs a series of multi-step control sequence. According to network time delay, the delay compensator picks out control
signal from the sequence to compensate time delay, so the system performance can be improved greatly. Combining the
advantages of PID control and predictive control, the controller has strong robustness. Finally, the stability of the closed-loop
system is analyzed, and simulation results show the effectiveness of the proposed algorithm.