Abstract: A new model free adaptive control algorithm is proposed for the problem that the information of pseudo partial derivative of estimated value is not fully used. According to the idea of the virtual reference feedback tuning (VRFT), a closed-loop system is taken as reference model. The closed-loop system is composed of the linear model which is linearized in tight format and the basic model free adaptive control. Then the error caused by the output of the reference model and the system expected output is taken as the control input. As a result, the estimated value of pseudo partial derivative in the past time is introduced to the new control law. The information utilization rate of the estimated value of pseudo partial derivative is improved. The simulation result shows that the improved model free adaptive control has better control performance.