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The main bottleneck in using optimization at the industrial level is the presence of uncertainty in the form of model mismatch and disturbances. The way uncertainty can be handled constitutes the subject of this series of two papers. The first part dealt with the characterization of the nominal solution and proposed an approach to separate the(More)
ⅷ ⅷ ⅷ ⅷ ⅷ ⅷ ⅷ ⅷ ⅷ ⅷ ⅷ ⅷ ⅷ ⅷ ⅷ ⅷ ⅷ ⅷ ⅷ ⅷ ⅷ ⅷ ⅷ ⅷ ⅷ ⅷ ⅷ ⅷ ⅷ ⅷ ⅷ ⅷ ⅷ ⅷ ⅷ In the control of robot manipulators, it is customary to assume that the eigenvalues of the inertia matrix are uniformly bounded from below and above. However, in this article it is shown that not all manipulators possess this property. The class of serial robot manipulators with bounded(More)
Maximizing the yield of a second-order reaction by manipulating the inlet flow rate is considered in both the isoperibolic and isothermal modes. For safety considerations, constraints on (i) the amount of heat produced, and (ii) the temperature under cooling failure are imposed. The optimal solution is discontinuous and is first obtained numerically.(More)
The optimization of batch processes has attracted attention in recent years because, in the face of growing competition, it is a natural choice for reducing production costs, improving product quality, meeting safety requirements and environmental regulations. This paper starts with a brief overview of the analytical and numerical tools that are available(More)
Run-to-run control has been applied to several traditional batch processes in the chemical industry. The 24-h cycle of eating meals, measuring blood glucose concentrations, and delivering the correct insulin bolus, with the goal of achieving the optimal blood glucose profile, can be viewed in the same spirit as traditional batch processes such as emulsion(More)
— Reaction systems can be represented by first-principles models that describe the evolution of the states (typically concentrations, volume and temperature) by means of conservation equations of differential nature and constitutive equations of algebraic nature. The resulting models often contain redundant states since the various concentrations are not(More)