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Model Predictive Control, , and . Process Dynamics and Control, chapter 20, John Wiley & Sons, Third edition, (2011)Process Dynamics and Control, , and . Wylie Series in Chemical Engineering John Wiley & Sons, Third edition, (2011)Process dynamics and control, , and . Wiley, Hoboken, NJ, (2004)Process Dynamics and Control, , and . Wiley Series in Chemical Engineering Wiley, (1989)Teaching process control in the 21st century: what has changed?, , and . ACC, page 710-712. IEEE, (2003)