In this paper, a new Direct Model Reference Adaptive Control Procedure (DMRAC) for Linear Time-Invariant (LTI) delay systems is presented with the use of the concept of the command generator tracker which expands the class of processes that can now be controlled with zero output error. The stability of the error between the system and the model is guaranteed by the Lyapunov theory. The new algorithm is applied to control a perturbed delay system. Matlab simulation examples are given to demonstrate the usefulness of the algorithm.