“…During recent years, many control methods have been employed at the Plataforma Solar de Almerı´a (Spain) ACUREX distributed solar collector field, those more related to the results shown in this paper ranging from PID control (Camacho, Berenguel, & Rubio, 1997), cascade control , model predictive control (Camacho et al, 1997;, adaptive control and gain scheduling control (Berenguel & Camacho, 1996;Camacho, Berenguel, & Bordo´ns, 1994;Camacho, Berenguel, & Rubio, 1994;Johansen, Hunt, & Petersen, 2000;Meaburn & Hughes, 1994;Pickhardt, 2000a), internal model control (Farkas & Vajk, 2002), nonlinear control (Barao, Lemos, & Silva, 2002;Cirre, Valenzuela, Berenguel, & Camacho, 2005;Igreja, Lemos, Barao, & Silva, 2003;Igreja, Lemos, Barao, & Silva, 2005;Johansen & Storaa, 2002;Pickhardt, 2000b;Silva, Rato, & Lemos, 2002), robust control (Cirre, Moreno, & Berenguel, 2003;Ortega, Rubio, & Berenguel, 1997), fuzzy logic control Flores, Saez, Araya, Berenguel, & Cipriano, 2005;Juuso, Balsa, & Valenzuela, 1998; & Camacho, 1995) and neural network-based controllers (Arahal, Berenguel, & Camacho, 1998;Gil, Henriques, Carvalho, Duarte-Ramos, & Dourado, 2002;Pereira & Dourado, 2002). A feedforward action is required in most cases to mitigate the effect of disturbances in the signal to be controlled (Berenguel, Camacho, & Rubio, 1993;Camacho, Rubio, & Hughes, 1992;Camacho et al, 1997;Carotenuto, LaCava, Muraca, & Raiconi, 1986;Meaburn & Hughes, 1996;R...…”