A method for generating a control vector during each of a plurality of control instants k, said control vector to be applied to an apparatus which carries out a process with at least one input variable and at least one output variable, at least one of said input variables defining a process input vector and at least one of said output variables defining a process output vector, said apparatus varying said process input vector in accordance with the value of said control vector u(k), said method guiding said process output vector v(k) towards an output set point vector, said method comprising the steps of: Generating a derivative vector v̇ ( k) from said process output vector, said derivative vector being a numerical approximation of said process output vector differentiated over time; Generating a future predetermined trajectory for driving said process output vector towards said output set point vector with a predetermined dynamic; Computing from said predetermined trajectory a derivative set point vector SPv̇ ( k) for said derivative vector; Using an adaptive predictive controller for computing said control vector u(k), based upon the components of the derivative vector and their corresponding derivative set points, that will drive said derivative vector v̇ ( k) towards said derivative set point vector SPv̇ ( k) and, as a consequence, said process output vector towards said predetermined trajectory; said adaptive predictive controller using an adaptive-predictive model to compute said control vector u(k) that will cause the predicted derivative vector to be at some predetermined value at a future time instant, being the parameters of said adaptive-predictive model updated on a real time basis in a manner which will cause said predictive derivative vector to approach the actual derivative vector; Applying said control vector u(k) to said apparatus in a manner which will cause said apparatus to vary said input vector in accordance therewith; and Actuating control of the process with said apparatus based on said at least one input variable. Generating a derivative vector v̇ ( k) from said process output vector, said derivative vector being a numerical approximation of said process output vector differentiated over time; Generating a future predetermined trajectory for driving said process output vector towards said output set point vector with a predetermined dynamic; Computing from said predetermined trajectory a derivative set point vector SPv̇ ( k) for said derivative vector; Using an adaptive predictive controller for computing said control vector u(k), based upon the components of the derivative vector and their corresponding derivative set points, that will drive said derivative vector v̇ ( k) towards said derivative set point vector SPv̇ ( k) and, as a consequence, said process output vector towards said predetermined trajectory; said adaptive predictive controller using an adaptive-predictive model to compute said control vector u(k) that will cause the predicted derivative vector to be at some predetermined value at a future time instant, being the parameters of said adaptive-predictive model updated on a real time basis in a manner which will cause said predictive derivative vector to approach the actual derivative vector; Applying said control vector u(k) to said apparatus in a manner which will cause said apparatus to vary said input vector in accordance therewith; and Actuating control of the process with said apparatus based on said at least one input variable.