Proportional-integral-derivative (PID) controller is widely adopted in practice. However, model predictive control (MPC) generally shows improved control performance for industrial processes with delays. In this paper, an improved PID using extended nonminimal state space model based predictive functional control (ENMSSPFC) is proposed and tested on the chamber pressure in an industrial coke furnace. Based on the state space formulation of the process model, ENMSSPFC and PID control strategies are combined to obtain an improved PID control, where the proposed PID has simultaneously the same performance as ENMSSPFC and the same simple structure as traditional PID control. The proposed PID allows the implementation of MPC in a PID form and thus avoids the issues of hardware and of costs caused by MPC implementation. Performance of the proposed PID is compared with several traditional PID controllers. Results show that it provides improved performance than traditional PID control methods.