In recent years, the chaos control as one of the prospering application of chaos research is to stabilize a state into the peculiar unstable periodic orbit(UPO) embedded in the chaos atractor. Delayed feedback control(DFC) applies inputs based on the difference between the current state and the τ-time delayed state, and stabilizes UPO. Where τ denotes the period of the stabilized orbits. This method needs correctly no information about orbits if the periods of UPO is known. However, there exists the limitation of the odd number property. As the method to compensate this fault, there is prediction-based feedback control(PFC) using the prediction value of the τ-time future state. However, PFC needs to calculate the prediction value analytically. Then, in this paper, we propose the hybrid type technique of the both methods to improve these faults. Namely we combine DFC and PFC by the parameter W, which indicates the balance of two control inputs based on each method, so that each advantage is not lost. PFC input and DFC input in our method have a common feedback gain matrix K. Therefore, we calculate the ranges of W and K using Jury's method and determine the optimal pair of (W, K) using evaluation function, and stabilize the state into the target τ periodic orbit.