“…It should be clear, however, that the methods are quite general. Other performance criteria can be used, and the methods have been applied to more complicated processes, such as systems with bounds on state, as well as decision variables (7, 9, 33), discrete systems (8,12,13,18,22,23,27), systems with distributed parameters (16, 28), systems with complex interconnected structures (14,18,23), and randomly disturbed systems (30).…”