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The common control problem of multi-time delayed nonlinear systems in process control is studied. A new predictive control algorithm based on time-delay T-S modelpsilas fuzzy inference is presented for systems with both multi-time delayed states and multi-time delayed input. The predictive control is designed by using time-delay T-S fuzzy model as predictive model of the time-delay state feedback predictive control. The algorithm utilizes time-delay T-S fuzzy model to get the state and output estimated value, and corrects the output estimated value by using the measurable process variable. Then in terms of optimal control theory, the control movement, which is used to control the whole nonlinear system, is calculated by the corrected estimated value and set-point value. The truck-trailer time-delay system is also simulated with different cases. The simulation result shows the effectiveness and feasibility of the proposed method.