Abstract: In this study, we propose a predictive self-coupling PI (PSC-PI) control method that does not depend on the object model for controlling systems with large time delays. Further, we use a predictor model output to compensate the actual output. We consider the external disturbance and internal uncertainty of the system as the total disturbance; therefore, we develop an error dynamic system and design a PSC-PI control law and the tuning law by considering the velocity factor as the core. Theoretical analysis denotes that the controller can ensurethe global robust stability of the system. The simulation results denote that the proposed method can smoothly track the desired signal with fast speed and high accuracy, exhibiting considerable theoretical significance and application value in the field of large time-delay process control.