“…Studies have found that advanced control approaches such as linear quadratic regulation or tracking (LQR/LQT), the Generic Predictive Controller (GPC) and the model predictive controller (MPC) were superior to the proportional-integral (PI) control method in terms of the transient response performance and disturbance rejection capability, 13 -16 especially for problems with complex multiple and coupling variables. During the past three decades the theory of LQR/LQT has been well developed to deal with many important issues, such as stability, nonlinearity and robustness, 17 and it has been widely applied to different complex industrial control processes. 13,14,16,18 -23 An LQR/LQT controller can optimize a cost function that is a compromise between output error and control effort.…”