“…It is possible to define an independent optimisation problem for each of these design concepts [68] and when they share the same objectives they can easily be compared directly in the objective space by simply comparing their respective Pareto fronts. For example in [104], this idea is used to compare alternative slide model control structures, in [45] to compare different loop pairings and in [82] to analyse the performance of different battery models. In this approach, an initial linear model is used as a starting point for nonlinear estimation.…”