Systems and methods are disclosed to control a power inverter by extracting photovoltaic (PV) maximum power under a plurality of operating conditions as one or more reference variables; predicting the future behaviors of a PV output voltage as one or more controlled variables based on a current operational condition; generating one or more control signals for the H5 inverter that minimizes an error between the reference variable and the controlled variables; and controlling the power inverter with the one or more control signals.