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? Wit ...