Robust tuning is presented for PFC (Predictive Functional Controller) for stable non-integrative processes modelled as FOPDT and aperiodic SOPDT (First- and Second-Order Plus Dead Time) models, assuming stepwise changes in the reference or disturbance signal. The robustness is improved by using a first-order filter. The filter time constant is designed in the knowledge of the uncertainty of the model parameters (static gain, time constants and time delay). Both simulation results and the control of a laboratory pilot plant are presented. (C) 2017 Elsevier Ltd. All rights reserved.