There are time delays in human motor control systems. But humans can track predictable targets with zero-latency. To help understand this behaviour, we constructed a model that could overcome a time delay and track predictable targets with zero-latency. The model first identifies the frequency, amplitude and waveform of the target ; then it synthesizes a signal that compensates for the time delay, thereby producing zero-latency tracking. The technique used by this model should be applicable in the fields of physiological systems modelling, man-machine systems and robotics.