... modelling errors; and r is the relative order of N(s)/D(s) (Brosilow &Joseph, 20 02) .ExampleConsider the following non-minimum phase systemGp(s)= 2( −2s + 2) (2s + 1)(2s + 2) . (50) The ... that the set-point signal remains constant during the optimisation window, Np.Consider the following quadratic cost function which is very similar to the one obtained by(Tan et al., 20 02) J=(r ... (75)where the set-point information is given byrT=11 1×r(k), (76)and the dimension of r is Np×1. The cost function, Eq.(75) comprises two parts, the first part focus on minimising the errors...