A typical design procedure for model predictive control or control performance monitoring consists of:

1. identification of a parametric or nonparametric model;
2. derivation of the output predictor from the model;
3. design of the control law or calculation of performance indices according to the predictor.

Both design problems need an explicit model form and both require this three-step design procedure. Can this design procedure be simplified? Can an explicit model be avoided? With these questions in mind the work presented...