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Although PID control is still widely used in the industry, it isn't answered a high performance demand. On the other hand, the model predictive control (MPC) is paid attention as effective control but it takes much cost to introduce MPC instead of the PID control since the MPC structure quite different from the PID control. To defeat such situation, this paper proposes a model predictive PID Control method. In this method, the PID control gains are derived by solving the constrained optimization problem based on MPC algorithm without using inverse matrixes. The numerical simulations show that the proposed method is effective for various control systems.