The Base Function approach, recently proposed in the literature, is an effective method for set point tracking optimisation with two degrees of freedom regulators. Following this framework, the manuscript proposes an approach based on a Finite Impulse Response digital filter, that allows for an automatic selection of the feedforward path structure and for the optimisation of its parameters, thus overcoming the limitations inherent in the continuous time approaches recently presented in the literature. Based on a nonparametric model of the control loop, which is independent of the technique used to synthesise the feedback controller and of the set point signal, the method is simple enough to be suitable for systems where the limits imposed by the hardware and/or software architecture are relevant. Simulation and physical examples illustrate the usefulness of the proposal. (c) 2007 Elsevier Ltd. All rights reserved.