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Current model-free adaptive control (MFAC) can hardly deal with the timedelay problem in multiple-input multiple-output (MIMO) systems. To solve thisproblem, a novel model-free adaptive predictive control (MFAPC) method isproposed. Compared to the current MFAC, i) the proposed method is based on akind of prediction model which derives from theequivalent-dynamic-linearization model (EDLM); ii) the previous assumptions arerelaxed and the application range of MFAPC are extended. The leadingcoefficient of the control input vector in system description is no morerestricted to the diagonally dominant square matrix and the permissible rangesof pseudo orders Ly and Lu are extended; iii) the performance analysis and theissue of how to choose the matrix {\lambda} are completed by an easy manner ofanalyzing the function of the closed-loop poles, however, both problems may notbe realized by the previous contraction mapping method.

A New Model-Free Method for MIMO Systems and Discussion on Model-Free or Model-Based