A control system for using a predictive control with a control process having a time delay includes an adaptive feedback controller and a predictor. The predictor uses at least an adaptively updated control parameter from the adaptive feedback controller to predict the output of the control process during the time delay. The control system further includes a filter that dampens the rate of change of the adaptively updated control parameter provided to the predictor from the adaptive feedback controller to slow the adaptation of the predictor relative to the adaptation of the adaptive feedback controller.