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Generalized Predictive Control(GPC) can achieve a robust tracking to step-type reference signal because of integral compensation in it. But if there is neither modeling error nor disturbance, it does not need the integral compensation for tracking to step-type reference signal. And the integral compensation may cause a slow transient response or generate an extra control input. Although the authors have proposed a design method of two degree-of-freedom GPC for SISO systems and m-input m-output systems, the design method has not been considered for MIMO systems, which has different number of inputs and outputs. Therefore, this paper explores a design method of two degree-of-freedom GPC for MIMO systems and its effectiveness is evaluated.