  Current model-free adaptive control (MFAC) can hardly deal with the time
delay problem in multiple-input multiple-output (MIMO) systems. To solve this
problem, a novel model-free adaptive predictive control (MFAPC) method is
proposed. Compared to the current MFAC, i) the proposed method is based on a
kind of prediction model which derives from the
equivalent-dynamic-linearization model (EDLM); ii) the previous assumptions are
relaxed and the application range of MFAPC are extended. The leading
coefficient of the control input vector in system description is no more
restricted to the diagonally dominant square matrix and the permissible ranges
of pseudo orders Ly and Lu are extended; iii) the performance analysis and the
issue of how to choose the matrix {\lambda} are completed by an easy manner of
analyzing the function of the closed-loop poles, however, both problems may not
be realized by the previous contraction mapping method.
