The gap metric concept is used within the context of multilinear model-based control. The concept of distance between dynamic systems is used as a criterion for selecting a set of models that can explain the nonlinear plant behavior in a given operating range. The case studies presented include a CSTR and a pH neutralization reactor. The gap metric is used to analyze the relationships among candidate models, resulting in a reduced model set that provides enough information to design multilinear controllers. The simulation and experimental results indicate good performance and stability features.