| Preface | p. vii |
| Notation and Acronyms | p. xi |
| Multilayer Control | p. 1 |
| Control System | p. 1 |
| Hierarchical Control Structures | p. 2 |
| Functional multilayer structure | p. 4 |
| Temporal multilayer structure | p. 9 |
| Decomposition and Modeling in Functional Multilayer Structure | p. 11 |
| Optimizing Control | p. 15 |
| Multilayer Control of Integrated Wastewater System: A Case Study | p. 17 |
| Presentation of integrated wastewater system at Kartuzy in Poland | p. 17 |
| Control objectives | p. 25 |
| Control structure | p. 26 |
| Supervisory control layer | p. 28 |
| Optimizing control layer | p. 29 |
| Follow-up control layer | p. 29 |
| Temporal decomposition | p. 29 |
| Optimizing Control Layer | p. 37 |
| Process Descriptions and Control Task Formulation | p. 37 |
| Process description | p. 37 |
| Optimizing control and optimal control problems | p. 40 |
| The steady-state case | p. 43 |
| Implementation of the set-point step changes | p. 48 |
| Steady-State Model Optimization | p. 50 |
| Steady-State Optimizing Control | p. 57 |
| Basic control structures and strategies | p. 57 |
| Problems with constraints on process outputs | p. 66 |
| Iterative Correction with Disturbance Estimation | p. 73 |
| Correction Algorithm for Problems with Unconstrained Outputs | p. 73 |
| Correction Algorithm for Structures with Feedback Controlled Output Constraints | p. 76 |
| Integrated System Optimization and Parameter Estimation (ISOPE) | p. 81 |
| Algorithm Structure | p. 82 |
| Convergence and Optimality | p. 87 |
| On-line Estimation of Process Mapping Derivatives | p. 92 |
| Dual ISOPE Algorithm | p. 94 |
| Dual ISOPE Algorithm with Optimized Initial Phase | p. 101 |
| Comparative Simulation Study | p. 105 |
| Case Study Examples | p. 116 |
| ISOPE for Problems with Output Constraints | p. 131 |
| Feedback Controlled Output Constraints | p. 132 |
| Process with constraint controllers | p. 132 |
| Basic ISOPE algorithm | p. 137 |
| Dual ISOPE algorithm | p. 145 |
| Simulation studies | p. 151 |
| Algorithmic Implementation of Output Constraints | p. 169 |
| Problem formulation and analysis | p. 169 |
| Algorithm 1 | p. 170 |
| Algorithm 2 | p. 172 |
| Illustrative simulation example | p. 176 |
| ISOPE as Optimization Algorithm for Nonlinear Models | p. 180 |
| Iterative Algorithms for Dynamic Optimizing Control | p. 183 |
| Optimizing Control of Batch Processes | p. 183 |
| Control task formulation | p. 183 |
| Optimizing control algorithm structure | p. 187 |
| Implementation of DISOPE algorithm | p. 191 |
| Implicit implementation of DISOPE algorithm | p. 192 |
| Explicit implementation of DISOPE algorithm | p. 196 |
| ISOPE for Traveling Load Furnace Control: A Case Study | p. 198 |
| Introduction | p. 198 |
| Description of the process, measurement instrumentation and control architecture and hardware | p. 200 |
| Defining the batch for the pilot-scale traveling load furnace | p. 202 |
| Mathematical model of the batch and the parameter estimation problem | p. 204 |
| Performance function | p. 214 |
| Dynamic modified model-based optimization problem | p. 215 |
| Reducing number of control signals | p. 216 |
| Periodic control functions | p. 217 |
| Parameterized control functions | p. 219 |
| Optimizing Control of Interconnected Systems | p. 227 |
| The Interconnected System Description and Modeling | p. 227 |
| Iterative Correction by Interaction Balance Method with Feedback | p. 234 |
| Presentation of the method | p. 234 |
| Coordination strategies | p. 241 |
| Simulation studies | p. 244 |
| ISOPE Double-Loop Iterative Algorithms with Input-Output Measurements | p. 252 |
| ISOPE double-loop iterative algorithms | p. 252 |
| Double-loop iterative algorithms with input-output measurements | p. 254 |
| System-based double-loop algorithm | p. 260 |
| Model-based double-loop algorithms | p. 266 |
| Model-based double-loop algorithm with tight inner loop | p. 267 |
| Model-based double-loop algorithm with relaxed inner loop | p. 276 |
| Simulation studies | p. 283 |
| ISOPE Double-Loop Iterative Algorithms with Output Measurements | p. 293 |
| Structure | p. 294 |
| Optimality | p. 298 |
| System-based double-loop algorithm | p. 304 |
| Algorithm | p. 304 |
| Algorithmic mappings and convergence | p. 308 |
| Model-based double-loop algorithms | p. 312 |
| Model-based double-loop algorithm with tight inner loop | p. 312 |
| Model-based double-loop algorithm with relaxed inner loop | p. 317 |
| Simulation studies | p. 326 |
| Proof of Theorem 4.1 | p. 337 |
| Proofs of Theorems 7.1, 7.2 and 7.3 | p. 341 |
| Proof of Theorem 7.1 | p. 341 |
| Proof of Theorem 7.2 | p. 345 |
| Proof of Theorem 7.3 | p. 349 |
| Bibliography | p. 355 |
| Index | p. 363 |
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