This paper presents a tuning method of the parameters of the predictive PID controller (PPID) based on the fuzzy model. The PPID adopts the control strategy of generalized predictive control (GPC). The control algorithm is simple and easy to implement on microcontroller, PLC and instrumentation. The PPID has better performance than conventional PID. The parameter tuning is carried out by two phases. The parameters of the PPID are tuned first based on the initial fuzzy model off line. After the system oper...