1. A control method including system output prediction in an apparatus effecting control over a multivariable dynamic system approximated as a linear system having N output signals, M input signals, and model parameter order n where N, M, and n are finite positive :integers, the control method comprising: receiving variables including at least one of a set of dynamic system parameters and a set of system outputs y(t) from said multivariable dynamic system; generating a block of k filtered output z(t) predictions of said multivariable dynamic system by: selectively filtering the set of system outputs v(t); constructing a block state structure from the variables of said multivariable dynamic system; using the block state structure, generating at least one of a block of k output y(t) predictions when the filtering of said set of system outputs y(t) is not performed and a block of k filtered output .psi.(t) predictions when the selective filtering of said set of system outputs y(t) is performed, each of dimension N consisting of output y(t) predictions and filtered output .psi.(t) predictions respectively at each future time step up to a prediction horizon k; and, using i) the-block of k output predictions when the selective filtering of said set of system outputs y(t) is not performed and ii) the block of k filtered output .psi.(t) predictions when the selective filtering of said set of system outputs y(t) is performed, to generate said block of k filtered output z(t) predictions; combining said block of k filtered output z(t) predictions with a desired output trajectory to generate block control signals; and, outputting said block control signals as input signals to said multivariable dynamic system to effect said control over the system.