System identification for generic model control

System identification methods build mathematical models of dynamical systems based on observed data. The intended use of the model should always be reflected in the methods and techniques we use for identification. In this paper we derive an identification scheme for the case where the model is going to be used for GMC controller design. The aim of GMC: control is to make the output approach a setpoint along a given desired trajectory. This is reflected in the identification scheme which is non-standard in two ways. Firstly, the emphasis is on the output trajectories of the models, and secondly we try to make the difference between the output of the model and the observed output follow a trajectory which is determined by the controller parameters.