1. A method of forward prediction using stacked SVR models for control of an engine, the engine having an Electronic Control Unit (ECU), the method comprising the steps of: inputting a first set of data u(k) into both a physical system and into an SVR model, the first set of data u(k) received from at least one engine sensor; collecting a second set of system data y(k) from the physical system; stacking a plurality of SVR models, the stacked SVR model having the form 
 ŷ s ( k )= f ( u ( k− 1), u ( k− 2), y ( k− 1), y ( k− 2), y ( k− 3)) 
 y ( k− 1)= f ( u ( k− 2), u ( k− 3), y ( k− 2), y ( k− 3), y ( k− 4)) 
 y ( k− 2)= f ( u ( k− 3), u ( k− 4), y ( k− 3), y ( k− 4), y ( k− 5)) the resulting stacked SVR model using u(k−1) and y(k−3) without using feedback loops yielding improved accuracy, the ECU configured to modify operation parameters of the engine.