Abstract: In this paper, a new data driven subspace predictive dynamic control allocation approach is proposed for overactuated system with actuator dynamics．Through online subspace identification, the uncertainty model is used for better description of the actuator dynamic characteristic．Then the novel dynamic control allocation with actuator dynamics is designed under the subspace predictive control framework. The actuator modeling, design of control allocator and the actuator controller are then included in a framework which increases robustness of the control system．Finally, an example is given to demonstrate the efficiency of the proposed method.