Many control techniques have been proposed in order to improve the control performance in the control system. In the feedback control system the output of controller is generally used as the input of a plant But the undesired noise is included in the output of a controller. Therefore, there is a need to use a precompensator for rejecting the undesired noise and improving the response characteristic of a system. In this paper, the design method of a precompensator is proposed for the model following control in the I-PD control system. The proposed precompensator is implemented with a neural network. The games of a precompensator are adjusted automatically to obtain a desired response of a system when the response characteristic of a system is changed under a condition.