I think it's about trying to minimize entropy (disorder) of the system. Maximum entropy is maximum disorder (which the universe tends toward naturally), such as when the pendulum hangs below the cart without any intervention.
I'm not sure I'm right, but this logic works for me...
So, they generalized the method to find a predictable future, but in very unstable states. Later, Der and Ay generalized this towards maximization of predictive information - for that, it is not sufficient to predict to environment, but there also must be something nontrivial to predict. This gives rise to a number of highly interesting behaviours in many of their scenarios.
So, yes, your idea is a good one...