Applying the Lie derivative concept, we propose a new control method of generalized common model control (GCMC) by generalizing the CIVIC algorithm to complex processes with the relative order larger than I to overcome the disadvantage of common model control (CMC), i.e., it can only apply to the processes with relative order of 1. The model of the non-linear controlled plant is directly embedded in the controller, so that the controlled non-linear system is a linear high order system in the no constrained control input, it is very easy to tune for the controller by applying the method of dominant poles. The simulation results show that the general common model controller is very effective for the non-linear system.