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In this paper an algorithm of PID controller based on model predictive control is derived. With this algorithm the three parameters of a PID controller are tuned to the process to obtain a satisfactory closed-loop process performance. Using this algorithm for time-delay system is proposed to enhance the real-time performance and the reliability of process control. Analyzed the three parameters tuned of a simple PID form, the effect is not ideal. A new structure is discussed which provides an effective way of to solve this problem, which introduces feedback from actuator output to the controller. The new structure with constraint provides an effective way of modeling and control of process. It was suitable to be applied to the real industrial process field.