  This technical report presents a method for designing a constrained
output-feedback model predictive controller (MPC) that behaves in the same way
as an existing baseline stabilising linear time invariant output-feedback
controller when constraints are inactive. The baseline controller is cast into
an observer-compensator form and an inverse-optimal cost function is used as
the basis of the MPC controller. The available degrees of design freedom are
explored, and some guidelines provided for the selection of an appropriate
observer-compensator realisation that will best allow exploitation of the
constraint-handling and redundancy management capabilities of MPC.
Consideration is given to output setpoint tracking, and the method is
demonstrated with three different multivariable plants of varying complexity.
