A predictive control method is proposed for handling the nonlinear systems with non-analytical modules. Firstly, the link with conventional generalized predictive control is established and the criterion for performance optimization is discussed. The optimal predictive control signal is then obtained with detailed discussion on the implementation issues. Since the proposed method does not require the inverse operation of the nonlinear systems, it possesses the advantage of low computational complexity. The method is finally validated through its application to a two-link robotic manipulator.