“…This need has originated a collection of techniques called RtR control (Baras & Patel, 1996;Sachs, Hu, & Ingolfsson, 1995;Boning, Moyne, & Smith, 1995;Castillo & Yeh, 1998;Hankinson, Vincent, Irani, & Khargonekar, 1997;Ingolfsson & Sachs, 1993;Ning, 1996;Deng, 1999). RtR control is a form of discrete-time process control in which the product recipe with respect to a particular equipment process is modiÿed ex situ, i.e.…”