The use of physiological models in medicine allows the evaluation of new hypotheses, development of diagnosis and clinical treatment applications, and development of training and medical education tools, as well as medical device design. Although several mathematical models of physiological systems have been presented in the literature, few of them are able to predict the human cardiorespiratory response under physical exercise stimulus adequately. This paper aims to present the building and comparison of an integrated cardiorespiratory model focused on the prediction of the healthy human response under rest and aerobic exercise. The model comprises cardiovascular circulation, respiratory mechanics, and gas exchange system, as well as cardiovascular and respiratory controllers. Every system is based on previously reported physiological models and incorporates reported mechanisms related to the aerobic exercise dynamics. Experimental data of 30 healthy male volunteers undergoing a cardiopulmonary exercise test and simulated data from two of the most current and complete cardiorespiratory models were used to evaluate the performance of the presented model. Experimental design, processing, and exploratory analysis are described in detail. The simulation results were compared against the experimental data in steady state and in transient regime. The predictions of the proposed model closely mimic the experimental data, showing in overall the lowest prediction error (10.35%), the lowest settling times for cardiovascular and respiratory variables, and in general the fastest and similar responses in transient regime. These results suggest that the proposed model is suitable to predict the cardiorespiratory response of healthy adult humans under rest and aerobic exercise conditions.