“…without any a priori knowledge about the plant, in this work, the goal was to increase performance by the development of an adaptive predictive controller embedding in its design the relevant physical characteristics of the plant. The ACUREX field used in these experiments is described in available literature (Camacho et al, 1992;Camacho et al, 1988) and has motivated a wide range of research work on more sophisticated controllers of which (Barão et al, 2002;Berenguel and Camacho, 1995;Camacho, Berenguel and Rubio, 1997;Camacho et al, 1992;Coito et al, 1997;Carotenuto et al, 1985;Carotenuto et al, 1986;Johansen et al, 2000;Johansen et al, 2002;Lemos, Rato and Mosca, 2000;Meaburn and Hughes, 1994;Orbach et al, 1981;Rorres et al, 1980;Rubio et al, 1995;Rubio et al, 1996;Silva et al, 1997) are significant examples.…”