  This paper extends the formulation of a data-driven control method - the
Optimal Controller Identification (OCI) - to cope with non-minimum phase (NMP)
systems, without a priori knowledge of the NMP transmission zero, i.e. without
obtaining a prior model of the plant - as in any data-driven approach. The
method is based on the Model Reference paradigm, in which the desired
closed-loop performance is specified by means of a closed-loop transfer
function - the reference model. Considering a convenient parametrization of the
latter and a flexible performance criterion, it is possible to identify the NMP
transmission zeros of the plant along with the optimal controller parameters,
as it will be shown. Both diagonal and block-triangular reference model
structures are treated in detail. Simulation examples show the effectiveness of
the proposed approach.
