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PID control systems are still used as a basic control technology in today's industries. However, there are issues on control performances for some controlled processes, such as long dead-time processes and unstable processes. In order to improve the control performances of PID Control systems, we proposed a new model-driven PID control system at the first ISA/JEMIMA/SICE Joint Technical Conference (2001) in Tokyo, which is combined with the following control blocks; PD feedback block, internal-model control (IMC) block and set-point filter block, based on the model driven control concept proposed by Kimura at the CDC2000 in Sydney. In this paper, the model-Driven PID control system and the design method are described and practical effectiveness, including two degrees of freedom properties, are shown through several case studies.