Generally, it is difficult to get excellent tracking performance and small overshoot simultaneously by generalized predictive controller (GPC). We propose a new GPC algorithm that can ensure good tracking performance as well as small overshoot. Such an algorithm takes full advantage of predictive information. We use the method by D. W. Clarke et al1-2-1 to compute control signal at samplingtime t, and we use this result and predictive model to predict control signal at sampling time t+1. Wecompute the contr...