K e y w o r d s . adaptive control, self-optimization, dual control, robotics, passivity, biomechanics, motion control.

Plantwide control is concerned with the structural decisions involved in the control system design of a chemical plant (C.S. Foss, Critique of chemical process control theory, AIChE Journal 19(2), 1973) 209±214; ``Which variables should be controlled, which variables should be measured, which inputs should be manipulated, and which links should be made between them?'' In particular, the ®rst is...

This paper reviews the role of self-optimizing control (SOC) and necessary conditions of optimality tracking (NCO tracking). We argue that self-optimizing control is not an alternative to real-time optimization (RTO), NCO tracking or model predictive control (MPC), but is to be seen as complementary. In self-optimizing control we determine controlled variables (CV), that keep the process close ...

Self-optimizing control is when acceptable performance can be achieved using pre-computed references and with no need to re-optimize when disturbances occur. For linear steady state processes, several methods to identify selfoptimizing control structures have been developed recently. For many industries, however, unsteady state processes become more and more important. A typical example is batc...

This work deals with membrane separation processes, their modelling and optimal control. A self-optimizing control is introduced, a method proposed by Johannes Jäschke (NTNU, Norway) to control heat exchanger network by controlling "Jäschke temperatures". This type of self-optimizing control is applied to control membrane processes, specifically membrane contactor network. This network consists...