 Utilizing an innovative modified methodology with suitable closed-loop input/output measurements that comply with the appropriate persistency of excitation condition, a non-parametric predictive model is suitably constructed .
<clarity>  Utilizing an innovative modified methodology with suitable closed-loop input/output measurements that comply with the appropriate persistency of excitation condition, a non-parametric predictive model is suitably constructed .
 Utilizing an innovative modified methodology with suitable closed-loop input/output measurements that comply with the appropriate persistency of excitation condition, a non-parametric predictive model can be used for the determination of optimal control actions .