Abstract: An adaptive-predictive control system for controlling single-input, single-output or multivariable time-variant processes with known or unknown parameters and with or without time delay, is disclosed. The adaptive-predictive control system of the present invention uses an adaptive-predictive model to determine what control vector should be applied to the processs being controlled to cause the process output to be at some desired value at a future time instant. The parameters of the adaptive-predictive model are updated on a real time basis in a manner which will cause the output vector predicted by the model to approach the actual process output vector.