“…The ideas behind this procedure as well as the closely related dynamic programming have been used in the chemical engineering community since before the 1960s; for a detailed treatment see, for example Aris (1961), Roberts (1964), and Lapidus and Luus (1967). It is currently used in fields as diverse as process design (Seider et al, 1991), operation (Tieu et al, 1994), and scheduling and planning (Bhalla and Bower, 1993). Within the processcontrol field, these ideas underly the nonlinear model predictive control (MPC) approach (Li and Biegler, 1988;Garcia et al, 1989;Rawlings et al, 1994), where the optimal control action minimizing an error trajectory to a given time horizon is recalculated and implemented every step.…”