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For a class of nonlinear systems with unknown input delay, a grey predictive control method based on Genetic Algorithm is proposed. By using BP neural network, the unknown input delay is identified, The system output is estimated by the grey predictive algorithm, and then use PID controller based on genetic algorithm to conduct output feedback control for the system.The method combines grey predictive algorithm with genetic algorithm, the adaptability of the controller is improved effectively. Through simulation, the results show that the method can effectively control complex system with a large delay, large inertia, model uncertainty and other characteristics. The method is feasible and effective.