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SUMMARYA two-level approach for optimal final-value control of non-linear systems is considered. On the higher level, an on-line optimization (using a Ritz parameterization of the control functions') is performed during each major sampling interval in order to compute the control functions for the next intervals. On the lower level, an explicit model-following control is used with a minor sampling interval. This allows, even for heavily disturbed systems, sufficiently long major intervals for the on-line optimization. An ammonia reactor' is used as an example, and the application of this procedure is discussed. A realization of the controller using a hierarchical computer configuration gives an indication that, with a reasonable amount of hardware, sampling intervals of about one minute for the on-line optimization and well below one second for the modelfollowing control may be obtained.KEY WORDS Two-level control Optimal final-value control Mini/micro computer control Nonlinear plant dynamics Model-following control

Es wird das Programmpaket ΟR(ts)KU(rven)Z(eichenprogramm) vorgestellt, das auf einem Tischrechner arbeitet und für lineare, einschleißge Systeme Ausgangszeitfunktionen und alle wesentlichen Ortskurven auf einem Plotter darstellen kann. Dem Ingenieur stehen diese Hilfsmittel damit unmittelbar am Arbeitsplatz zur Analyse der Regelstrecken und zum Entwurf von Regelkreisen zur Verfugung. Kenntnisse Uber die Programmierung des Rechners werden nicht vorausgesetzt. The program package ORKUZ is presented, which runs on a desk-top calculator. It computes and plots time responses and all essential loci for linear single input -single output systems. The engineer can use it as a powerful tool right at his desk for the analysis and the design of control systems. Knowledge of the programming language of the calculator is not required.

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