A nonlinear dynamic behavioral model for radio frequency power amplifiers is presented. It uses orthonormal basis functions, Kautz functions, with complex poles that are different for each nonlinear order. It has the same general properties as Volterra models, but the number of parameters is significantly smaller. Using frequency weighting the out-of-band model error can be reduced. Using experimental data it was found that the optimal poles were the same for different input powers and for the different nonlinear orders. The optimal poles were also the same for direct and inverse models, which could be explained theoretically to be a general property of nonlinear systems with negligible linear memory effects. The model can be used as either a direct or inverse model with the same model error for power amplifiers with negligible linear memory effects.