“…Due to certain limitations of the self-tuning regulator, a selftuning controller was introduced by Gawthrop (1975, 1979) Allidina andHughes (1980), Wellstead et al (1979), Astrom and Wittenmark (1980), Vogel and Edgar ( 1982), McDermott and Mellichamp (1984), and other investigators. Implementation of the self-tuning controllers to chemical reactor control has been reported by many researchers such as Astrom (1980), Hallager andJorgensen (1981), McDermott et al (1986), Clarke and Gawthrop (1981), and Lee and Lee (1985).…”