In this paper, a novel multivariable predictive fuzzy-proportional-integral-derivative (F-PID) control system is developed by incorporating the fuzzy and PID control approaches into the predictive control framework. The developed control system has two main units referred as adaptation and application parts. The adaptation part consists of a F-PID controller and a fuzzy predictor. The incremental control actions are generated by the F-PID controller. The controller parameters are adjusted with the predictive control approach. The fuzzy predictor provides the multi-step ahead predictions of the plant outputs. Therefore, the F-PID controller parameters are adjusted by minimizing the errors between the predicted plant outputs and reference trajectories over the prediction horizon. The fuzzy predictor is trained with an on-line training procedure in order to adapt the changes in the plant dynamics and improve the prediction accuracy. The Levenberg-Marquardt (LM) optimization method with a trust region approach is used to adjust both the controller and predictor fuzzy systems parameters. In the application part, an identical F-PID controller of the adaptation part is used to control the actual plant. The adjusted parameter values are transferred to this identical controller at each time step. The performance of the proposed control system is tested for both single-input single-output (SISO) and multiple-input multiple-output (MIMO) nonlinear control problems. The adaptation, robustness to noise, disturbance rejection properties together with the tracking performances are examined in the simulations. (C) 2012 Elsevier B. V. All rights reserved.