Predictive function control can reduce the inertia of the controlled object and enhance the characteristics of robustness, so it is successfully applied to the rapid and high precision control. To no self-regulating process containing integral part, predictive function control cannot be directly applied. In this paper, first use PD feedback compensation transform it into a self balancing equivalent object, and then use predictive functional control in the progress. Through specific examples of simulation can be seen that this method not only keeps the prediction function good tracking ability and broaden the application scope of prediction function.%预测函数控制具有降低被控对象的惯性和增强鲁棒性的特点，成功应用于快速高精度控制中。针对含有积分环节的非自衡对象的，不能直接应用预测函数控制，本文提出了先通过PD的反馈补偿将其转换为有自平衡的等效对象，然后再应用预测函数的控制策略。通过具体实例的仿真可以看出，这种方法不仅保持了预测函数良好的跟踪能力，还扩宽了预测函数的应用范围。
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