A new method of controlling nonlinear processes with a non-mininium-phase delay-free part is presented. Two control laws are derived for stable, multiple-input multiple-output processes. They are obtained by requesting an approximately linear. input-output response and exploiting the connections between model-predictive control and input-output linearization. Conditions under which the closed-loop system is asymptotically stable are given. The application and performance of the control laws are illustrated using numerical simulation of two chemical reactor examples that exhibit non-minimum-phase behavior.