Selective non-catalytic reduction (SNCR) is a commercially available technology that can effectively reduce the nitrogen oxides ( <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"> <tex-math notation="LaTeX">${\mathrm {NO}}_{x}$ </tex-math></inline-formula> ) emissions in municipal solid waste incineration (MSWI) processes. Real-time measurement of NOx emissions is important to improve the denitration efficiency of SNCR. However, there are commonly time delays to obtain the measurement results from the traditional continuous emission monitoring system (CEMS). In this study, a prediction model based on multitask learning (MTL) is proposed for real-time measurement of NOx emissions. First, time delays are analyzed by using the maximum average cross-correlation function (MACCF) method, and sequences are adjusted according to the time delays, thereby recovering the original data pattern. Second, input variables are selected using a maximal information coefficient (MIC) method to reduce redundant information. Then, an MTL model is constructed for the prediction of NOx emissions. By using the MTL mechanism to share information of related prediction tasks, the potential correlations of industrial time-series data are mined, therefore improving the generalization performance of the model. Also, a self-organizing radial basis function neural network is designed as the module of the MTL model to further improve the prediction accuracy of the model. A strategy for incrementally constructing the MTL model is developed to guarantee the computational efficiency of the model. Finally, the established model is tested using a benchmark dataset and the real industrial data from an MSWI plant. The experimental results show that the proposed MTL model outperforms other state-of-the-art models on computational efficiency and prediction accuracy, demonstrating the potentiality of the MTL model in real-time measurement of NOx emissions in MSWI processes.