L'utilisation de correcteur discret à période d'échantillonnage variable peut être intéressante dans plusieurs cas, par exemple lorsque la mesure, bien qu'envoyée de façon périodique, est reçue à intervalle variable. C'est le cas en milieu marin lorsque la mesure d'altitude est effectuée avec un capteur à ultrason (la durée du trajet du signal dans l'eau dépend de la distance par rapport au fond). Le délai variable entre deux réceptions de mesures, peut être vu comme une variation de période d'échantillonnage pour le contrôleur. La synthèse de lois de commande discrète à période d'échantillonnage variable a déjà été étudiée pour des systèmes stationnaires. On se propose ici d'étendre cette méthode pour des systèmes Linéaires à Paramètres Variants (LPV), qui permettent de conserver des paramètres importants d'un système non-linéaire en temps que paramètres d'un système linéaires. La synthèse de contrôleur repose sur le méthodologie H∞, appliquée aux systèmes LPV. En particulier, on s'intéressera à deux approches existantes dans la littérature : l'approche polytopique (où le paramètre variant évolue dans un volume convexe) et la Représentation Linéaire Fractionnelle (LFR). La méthode proposée est appliquée au contrôle d'un AUV (Autonomous Underwater Vehicle), qui est système difficile à contrôler du fait d'importantes non-linéarités. Des résultats de simulations permettront de montrer l'intérêt de la méthode pour le contrôle d'altitude d'un AUV, et notamment les améliorations apportées par l'ajout de paramètres issus du système non-linéaire au modèle utilisé pour la synthèse des régulateurs. / Discrete time controller using variable sampling can ba interesting in several cases, for axample when the measure, even if send periodically, is received with a variable interval. This is the case in submarine environement, when the altitude measurement is done using an ultrasonic sensor. Discrete control laws synthesis with variable sampling period have already been studied for LTI systems. The results are here extended to Linear Parameter Varying systems, that allow to keep some non-linearities as parameters of a linear system. In particular, two approaches are investigated : the polytopic and the LFR. The proposed method is applied for the altitude control of an autonomous underwater vehicle (AUV). Simulations results will show the interest of the method, in particular how results are improved by adding some parameters coming from the non linear model.

Un des enjeux actuels de la réduction des émissions polluantes pour les véhicules automobiles concerne l'utilisation de moyens de propulsion hybride (électrique+thermique). Les problématiques principales, pour l'automatique, sont alors d'optimiser l'efficacité énergétique globale du véhicule, mais aussi d'améliorer les performances du véhicule hybride. Nous envisageons ici de développer des méthodes de commande robuste dans cet objectif, tout en prenant en compte les contraintes liées à la mise en oeuvre pratique. / In the recent years, growing public concern has been given both on the energy problem and on the environment problem resulted from dramatically increased vehicles equipped with Internal Combustion Engine (ICE). Subsequently, intensive contributions have been made by the automotive industries and research institutes on vehicles that depend less on the fossil fuels, and introduce less pollutant emissions. This has led to the emergence of environment-friendly and energy-saving vehicles such as the Hybrid Electric Vehicle (HEV) that is usually equipped with one or more additional electric motors and the associated power battery compared with the Conventional vehicles (CVs) propelled solely by the ICE. The key point of an HEV is to design a proper Energy Management Strategy (EMS) that decides how to split the demanded power between the engine and the motor (battery). As the most important and expensive part of an HEV, it is important to take into account battery states, such as battery State of Charge (SOC) and battery ageing, aiming at maintain the optimality of the achieved EMS, as well as prolonging the battery life. In this dissertation, an HEV of parallel structure, which is equipped with a Lithiumion battery is considered. This dissertation is focused on accounting for battery related items, i.e. battery SOC and SOH indicated by battery parameters, in the EMS developments leading to a kind of fault tolerant EMS. Some brief introduction on the control methods and realization approaches involved in this work is presented first, followed by two big parts: the first part is focused on the battery modeling and estimation, while the second part is concerned by the vehicle modeling and few kinds of EMS development methods.

Made available in DSpace on 2014-06-11T19:22:32Z (GMT). No. of bitstreams: 0 Previous issue date: 2012-06-21Bitstream added on 2014-06-13T19:26:17Z : No. of bitstreams: 1 iliuk_i_me_bauru.pdf: 2013927 bytes, checksum: e94fef7f2a027b1dc8fe2b2da4ecc240 (MD5) / Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES) / Nos últimos anos, a pesquisa sobre captura de energia, tem aumentado substancialmente. Muitos pesquisadores têm concentrado seus esforços em encontrar a melor configuração para estes sistemas e para otimizar sua potência de saída. No processo de captura de energia, a energia elétrica é obtida através da conversão de energia mecânica, criado por uma fonte de vibração do ambiente através de um transdutor, por exemplo, um fino filme piezocerâmico. Diferentes mecanismos de acoplamento eletromecânico têm sido desenvolvidos para dispositivos de captura, e um interesse particular tem sido dado ao uso de modelos que transformam a vibração mecânica em corrente elétrica utilizando um elemento piezoelétrico. Neste trabalho, foi proposto um modelo de captura de energia de vibrações, incluindo não-linearidades no acoplamento piezoelétrico e uma excitação não-ideal. Demonstrou-se que a potência capturada foi influenciada pelo efeito das não-linearidades do acoplamento piezoelétrico, alterando o comportamento dinâmico do sistema. Com o acoplamento fraco, um comportamento caótico foi encontrado causando instabilidade. Com o aumento do acoplamento ocorreu um aumento da energia capturada até um certo limite onde o aumento da não-linearidade teve um efeito amortecimento sobre as vibrações não-lineares da estrutura causando a perda de energia. Realizando simulações numéricas o comportamento do modelo foi analisado através dos expoentes de Lyapunov, retratos de fase, históricos de deslocamentos no tempo onde um comportamento caótico também foi observado, causando a perda de energia ao longo do tempo de simulação. Usando uma técnica de perturbação, foi encontrada uma solução analítica aproximada para o sistema não-ideal. Então, aplicou-se três técnicas de... / In recent years, research on energy harvesting, has increased substantially. Many researchers have concentrated their efforts on finding the best configuration for these systems and to optimize its power output. In the process of energy harvesting, electric power is obtained by converting mechanical energy created by a vibration source from the environment through a transducer, for example, a thin film piezoceramic. Different mechanisms of electromechanical coupling devices have been developd to harvesting, and a particular interest has been given to the use of models that tranform the mechanical vibration into electrical current using a piezoelectric element. In this paper we propose a model to energy harvesting from vibrations, including non-linearities in the piezoelectric doupling and a non-ideal excitation. It was demonstrated that the power captured was influenced by the effect of the nonlinearities of the piezoelectric coupling, modifying the dynamic behavior of the system. With a weak coupling, a chaotic behavior was found causing instability. With the increase of the coupling has ocurred an increase in the energy captured until a limit, where the increase of non-linearity has a damping effect on vibrations of the non-linear structure causing the loss of energy. Performing numerical simulations the behavior of the model was analyzed using the Lyapunov exponents, phase portraits, historical displacements in time where a a chaotic behavior was also observed, causing the loss os energy throughout the simulation time. Using a perturbation technique, found an approximate analytical solution for the non-ideal system. Then, we applied three control techniques to maintain the proposed system in a stable condition. Both the method of equations of state-dependent Riccati (SDRE), the method (LQR) and the feedback... (Complete abstract click electronic access below)

Coordenação de Aperfeiçoamento de Pessoal de Nível Superior / This dissertation presents as the main contribution the design and experimental validation of a robust H2 controller applied to boost converters with variations on the parameters load resistance, input voltage and operating point duty cycle. First, a polytopic model of the plant is presented, allowing to represent all the possible variations of the parameters within intervals previously established. Design conditions for a robust H2 controller, optimal under the quadratic stability, are detailed and used, allowing to efficiently calculate the controller gains. These gains are implemented with analog circuitry and the closed-loop system is tested by means of simulation and experimental results, which show a good match and illustrate a good performance. Finally, the small perturbation rejection capacity of the closed-loop system subject to parametric variations is evaluated using the H∞ guaranteed cost. / Esta dissertação apresenta como principal contribuição o projeto e a validação experimental de um controlador robusto H2 aplicado a conversores boost com variações nos parâmetros resistência de carga, tensão de entrada e razão cíclica do ponto de operação. Primeiramente, um modelo politópico da planta é apresentado, permitindo representar todas as situações de variações possíveis dos parâmetros mencionados, dentro de intervalos previamente estabelecidos. Condições de projeto de um controlador robusto H2, ótimo sob a estabilidade quadrática, são detalhadas e utilizadas, permitindo calcular eficientemente os ganhos do controlador. Estes ganhos são implementados de forma analógica e o sistema em malha fechada é testado por meio de resultados experimentais e de simulação, que apresentam uma boa correspondência e ilustram um bom desempenho. Por fim, a capacidade de rejeição de pequenas perturbações do sistema em malha fechada sujeito a variações paramétricas é avaliada utilizando o custo garantido H∞.

Orientador: José Manoel Balthazar / Banca: Angelo Marcelo Tusset / Banca: Bento Rodrigues de Pontes Junior / Resumo: Nos últimos anos, a pesquisa sobre captura de energia, tem aumentado substancialmente. Muitos pesquisadores têm concentrado seus esforços em encontrar a melor configuração para estes sistemas e para otimizar sua potência de saída. No processo de captura de energia, a energia elétrica é obtida através da conversão de energia mecânica, criado por uma fonte de vibração do ambiente através de um transdutor, por exemplo, um fino filme piezocerâmico. Diferentes mecanismos de acoplamento eletromecânico têm sido desenvolvidos para dispositivos de captura, e um interesse particular tem sido dado ao uso de modelos que transformam a vibração mecânica em corrente elétrica utilizando um elemento piezoelétrico. Neste trabalho, foi proposto um modelo de captura de energia de vibrações, incluindo não-linearidades no acoplamento piezoelétrico e uma excitação não-ideal. Demonstrou-se que a potência capturada foi influenciada pelo efeito das não-linearidades do acoplamento piezoelétrico, alterando o comportamento dinâmico do sistema. Com o acoplamento fraco, um comportamento caótico foi encontrado causando instabilidade. Com o aumento do acoplamento ocorreu um aumento da energia capturada até um certo limite onde o aumento da não-linearidade teve um efeito amortecimento sobre as vibrações não-lineares da estrutura causando a perda de energia. Realizando simulações numéricas o comportamento do modelo foi analisado através dos expoentes de Lyapunov, retratos de fase, históricos de deslocamentos no tempo onde um comportamento caótico também foi observado, causando a perda de energia ao longo do tempo de simulação. Usando uma técnica de perturbação, foi encontrada uma solução analítica aproximada para o sistema não-ideal. Então, aplicou-se três técnicas de... (Resumo completo, clicar acesso eletrônico abaixo) / Abstract: In recent years, research on energy harvesting, has increased substantially. Many researchers have concentrated their efforts on finding the best configuration for these systems and to optimize its power output. In the process of energy harvesting, electric power is obtained by converting mechanical energy created by a vibration source from the environment through a transducer, for example, a thin film piezoceramic. Different mechanisms of electromechanical coupling devices have been developd to harvesting, and a particular interest has been given to the use of models that tranform the mechanical vibration into electrical current using a piezoelectric element. In this paper we propose a model to energy harvesting from vibrations, including non-linearities in the piezoelectric doupling and a non-ideal excitation. It was demonstrated that the power captured was influenced by the effect of the nonlinearities of the piezoelectric coupling, modifying the dynamic behavior of the system. With a weak coupling, a chaotic behavior was found causing instability. With the increase of the coupling has ocurred an increase in the energy captured until a limit, where the increase of non-linearity has a damping effect on vibrations of the non-linear structure causing the loss of energy. Performing numerical simulations the behavior of the model was analyzed using the Lyapunov exponents, phase portraits, historical displacements in time where a a chaotic behavior was also observed, causing the loss os energy throughout the simulation time. Using a perturbation technique, found an approximate analytical solution for the non-ideal system. Then, we applied three control techniques to maintain the proposed system in a stable condition. Both the method of equations of state-dependent Riccati (SDRE), the method (LQR) and the feedback... (Complete abstract click electronic access below) / Mestre

abstract: In the past decade, real-world applications of Vertical Take-Off and Landing (VTOL) Unmanned Aerial Vehicles (UAV) have increased significantly. There has been growing interest in one of these types of UAVs, called a tail-sitter UAV, due to its VTOL and cruise capabilities. This thesis presents the fabrication of a spherical tail-sitter UAV and derives a nonlinear mathematical model of its dynamics. The singularity in the attitude kinematics of the vehicle is avoided using Modified Rodrigues Parameters (MRP). The model parameters of the fabricated vehicle are calculated using the bifilar pendulum method, a motor stand, and ANSYS simulation software. Then the trim conditions at hover are calculated for the nonlinear model, and the rotational dynamics of the model are linearized around the equilibrium state with the calculated trim conditions. Robust controllers are designed to stabilize the UAV in hover using the H2 control and H-infinity control methodologies. For H2 control design, Linear Quadratic Gaussian (LQG) control is used. For the H infinity control design, Linear Matrix Inequalities (LMI) with frequency-dependent weights are derived and solved using the MATLAB toolbox YALMIP. In addition, a nonlinear controller is designed using the Sum-of-Squares (SOS) method to implement large-angle maneuvers for transitions between horizontal flight and vertical flight. Finally, the linear controllers are implemented in the fabricated spherical tail-sitter UAV for experimental validation. The performance trade-offs and the response of the UAV with the linear and nonlinear controllers are discussed in detail. / Dissertation/Thesis / Masters Thesis Aerospace Engineering 2018

abstract: Traditional approaches to modeling microgrids include the behavior of each inverter operating in a particular network configuration and at a particular operating point. Such models quickly become computationally intensive for large systems. Similarly, traditional approaches to control do not use advanced methodologies and suffer from poor performance and limited operating range. In this document a linear model is derived for an inverter connected to the Thevenin equivalent of a microgrid. This model is then compared to a nonlinear simulation model and analyzed using the open and closed loop systems in both the time and frequency domains. The modeling error is quantified with emphasis on its use for controller design purposes. Control design examples are given using a Glover McFarlane controller, gain sched- uled Glover McFarlane controller, and bumpless transfer controller which are compared to the standard droop control approach. These examples serve as a guide to illustrate the use of multi-variable modeling techniques in the context of robust controller design and show that gain scheduled MIMO control techniques can extend the operating range of a microgrid. A hardware implementation is used to compare constant gain droop controllers with Glover McFarlane controllers and shows a clear advantage of the Glover McFarlane approach. / Dissertation/Thesis / Ph.D. Electrical Engineering 2013

Dans un marché électrique concurrentiel, EDF a adapté ses outils de gestion de production pour permettre une gestion optimale de son portefeuille, particulièrement sur les horizons journaliers et infra-journaliers, derniers leviers pour une gestion optimisée de la production. Et plus l'horizon d'optimisation s'approche du temps réel, plus les décisions prises aux instants précédents deviennent structurantes voire limitantes en terme d'actions. Ces décisions sont aujourd'hui prises sans tenir compte du caractère aléatoire de certaines entrées du modèle. En effet, pour les décisions à court-terme, la finesse et la complexité des modèles déjà dans le cas déterministe ont souvent été un frein à des travaux sur des modèles tenant compte de l'incertitude. Pour se prémunir face à ces aléas, des techniques d'optimisation en contexte incertain ont fait l'objet des travaux de cette thèse. Nous avons ainsi proposé un modèle robuste de placement de la production tenant compte des incertitudes sur la demande en puissance. Nous avons construit pour cette fin un ensemble d'incertitude permettant une description fine de l'aléa sur les prévisions de demande en puissance. Le choix d'indicateurs fonctionnels et statistiques a permis d'écrire cet ensemble comme un polyèdre d'incertitude. L'approche robuste prend en compte la notion de coût d'ajustement face à l'aléa. Le modèle a pour objectif de minimiser les coûts de production et les pires coûts induits par l'incertitude. Ces coûts d'ajustement peuvent décrire différents contextes opérationnels. Une application du modèle robuste à deux contextes métier est menée avec un calcul du coût d'ajustement approprié à chaque contexte. Enfin, le présent travail de recherche se situe, à notre connaissance, comme l'un des premiers dans le domaine de la gestion optimisée de la production électrique à court terme avec prise en compte de l'incertitude. Les résultats sont par ailleurs susceptibles d'ouvrir la voie vers de nouvelles approches du problème. / Robust Optimization is an approach typically offered as a counterpoint to Stochastic Programming to deal with uncertainty, especially because it doesn't require any precise information on stochastic distributions of data. In the present work, we deal with challenging unit-commitment problem for the French daily electricity production under demand uncertainty. Our contributions concern both uncertainty modelling and original robust formulation of unit-commitment problem. We worked on a polyhedral set to describe demand uncertainty, using statistical tools and operational indicators. In terms of modelling, we proposed robust solutions that minimize production and worst adjustment costs due to uncertainty observation. We study robust solutions under two different operational contexts. Encouraging results to the convex unit-commitment problems under uncertainty are thus obtained, with intersting research topics for future work.

Au cours des dernières années, les centres d'appels ont été introduits avec succès par de nombreuses entreprises axées sur les services comme les banques et les compagnies d'assurance. Ils deviennent le principal point de contact avec les clients, et une partie intégrante de la majorité des sociétés. L'émergence à grande échelle des centres d'appels a créé une source féconde de problèmes de gestion des opérations. Dans cette thèse, nous nous concentrons sur la question de dimensionnement et définition des emplois du temps dans les centres d'appels. L'objectif de notre travail consiste à développer des analyses qualitatives ainsi que quantitatives, afin de déduire des recommandations utiles aux managers.Nous analysons quatre problèmes qui tiennent compte de l'incertitude sur les paramètres d'arrivée des appels. Le processus d'arrivée des appels est supposé suivre un processus non stationnaire et doublement stochastique avec un taux moyen d'arrivée aléatoire.Dans le premier modèle, nous considérons un centre d’appels avec une seule vacation possible. Les agents traitent en même temps des appels entrants et des tâches de back-office. Ceci permet d’avoir une certaine souplesse pour modifier en temps réel la capacité instantanée de traitement des appels entrants. Nous analysons l'impact de la flexibilité offerte par les charges de travail de back-office.Dans le deuxième modèle, nous considérons un centre d'appels avec plusieurs vacations possibles. Les agents traitent seulement des appels entrants. Dans ce modèle, le dimensionnement initialement établi peut être corrigé au cours de la journée de travail. Nous proposons une approche de programmation stochastique en deux étapes et une approche de programmation réglable robuste pour résoudre le problème d’optimisation. En particulier, nous analysons et montrons l'avantage supplémentaire d'utiliser le réglage dynamique sur les coûts de dimensionnement du centre d’appels. Dans le troisième modèle, nous considérons un autre type d'incertitude supplémentaire, qui est l'incertitude sur la distribution de probabilité d'un paramètre aléatoire. Nous proposons une approche combinant la programmation stochastique et la programmation distributionnellement robuste, et nous évaluons son rendement. Le dernier problème de dimensionnement d’un centre d'appels pour lequel le manager se propose de satisfaire un niveau de service global pour toute la journée au lieu d’un niveau de service objectif par période. Nous permettons également la mise à jour du dimensionnement au cours de la journée. Dans notre analyse, nous montrons en particulier les avantages de l'ajout de la flexibilité de mise à jour, et soulignons l'impact d'avoir une contrainte de service niveau globale sur les performances. / In the past few years, call centers have been introduced with great success by many service-oriented companies such as banks and insurance companies. They become the main point of contact with the customers, and an integral part of the majority of corporations. The large-scale emergence of call centers has created a fertile source of management issues. In this thesis, we focus on the issue of staffing and scheduling of call centers. The objective of our work is to derive both qualitative and quantitative results for practical management.We specifically address the analysis of four problems that take into account the important feature of uncertainty in the call arrival parameters. The call arrival process is assumed to follow a doubly non-stationary stochastic process with a random mean arrival rate.In the first model, we consider a single-shift call center blending inbound calls and back-office jobs. By allowing the possibility of real-time changes in the capacity dealing with inbound calls, we analyze the impact of the flexibility offered by back-office jobs.In the second model, we consider a multi-shift call center with single type of inbound calls, in which the scheduling update is allowed. We propose a two-stage stochastic programming approach and an adjustable robust programming approach to efficiently solve the problem. We also analyze the benefits of using dynamic adjustment on scheduling.In the third model, we consider an additional type of uncertainty, namely the uncertainty on the probability distribution of a random parameter. We propose an approach combining stochastic programming and distributionally robust programming, and evaluate its performance.The last model deals with a call center optimization under a global service level constraint instead of period by period constraints. We again allow scheduling decisions to be updated during the middle of the day. We show the advantages of adding the update flexibility, and point out the impact of having a global service level constraint on performance

O projeto de estratégias de controle preditivo (MPC) com estabilidade garantida, que incorpora explicitamente a incerteza de modelo na formulação de controle, ainda permanece uma questão em aberto na literatura, embora uma ampla teoria já tenha sido desenvolvida para a síntese de algoritmos MPC robustamente estáveis. Em verdade, as soluções existentes para o problema de MPC robusto estão longe de uma etapa aceitável de implementação prática, principalmente se o sistema de processo é composto de modos integradores ou instáveis, e também apresenta atrasos de tempo (tempos mortos) entre suas variáveis de entrada e saída. Sob esta perspectiva, o objetivo principal desta tese é desenvolver uma estrutura de síntese de controladores MPC com estabilidade robusta garantida para sistemas de processo com as características integradoras ou instáveis, assim como tempos mortos entre as variáveis. Particularmente, três diferentes estratégias de MPC robusto são desenvolvidas neste trabalho. As duas primeiras referem-se a sistemas integradores com tempos mortos: o primeiro algoritmo é baseado em uma formulação de controle em dois passos, enquanto o segundo é posto como um problema de otimização de controle em um passo e a representação de modelo em variáveis de estado é mais geral do que aquela adotada na formulação do primeiro método. A terceira estratégia proposta focaliza os sistemas instáveis com tempos mortos através de uma formulação de controle em um passo. Ademais, visando o caso de implementação prática, os controladores desenvolvidos compreende os seguintes aspectos: (i) as leis de controle livre de erro permanente são obtidas sem a necessidade de incluir uma camada de otimização adicional de cálculo de estados estacionários, devido à formulação adequada de modelos em espaço de estados na forma incremental das entradas, os quais são derivados de expressões analíticas de resposta ao degrau do sistema de processo; (ii) a incerteza de todos os parâmetros do modelo, e.g. ganhos, constantes de tempo, atrasos de tempo, é considerada na formulação do problema; (iii) as provas de estabilidade robusta segundo Lyapunov são realizadas de uma forma intuitiva através da imposição de restrições terminais de igualdade e restrições de contração de custo; (iv) a inclusão adequada de variáveis de folga, que não comprometem as propriedades estabilizantes dos controladores, assegura que os problemas de otimização são sempre viáveis; (v) integração estável com camada de otimização em tempo real, visto que os controladores são projetados de tal forma a rastrear targets ótimos para algumas entradas e saídas do processo, mantendo as variáveis remanescentes dentro de faixas pré-definidas, ao invés de set-points xos. Exemplos de simulação típicos da indústria de processo são explorados para ilustrar as potenciais utilidades dos métodos propostos e demonstrar que eles podem ser aplicados em casos reais. / The design of stable model predictive control (MPC) strategies that explicitly incorporate the model uncertainty into the control formulation still remains an open issue, although a rich theory has been developed to the synthesis of robustly stabilizing MPC schemes. In fact, the existing solutions to the robust MPC problem seem far from an acceptable stage of practical imple mentations, chiey when the process system is composed of integrating and unstable poles, as well as time delays between its input and output variables. Within this perspective, the ultimate goal of this thesis is to develop a new framework for robust MPC synthesis which guarantees closed-loop stability of integrating and unstable time delay processes. On this subject, three different robust MPC strategies are developed. The two rst concerns on integrating time delay processes; the former is based on a two-step control formulation, whereas the latter is posed as a one-step control optimization problem and state-space model description is more general than that adopted in the former formulation. The third proposed strategy focuses on one-step control formulation-based unstable time delay processes. Aiming at practical implementation purposes, the controllers proposed herein comprise the following aspects: (i) the offset free control laws are obtained without the need to include an additional steady-state calculation op timization layer due to the enclosure of proper state-space models in the incremental form of the inputs, which are derived of analytical expressions of step response of the process system; (ii) the uncertainty of all model parameters, e.g. gains, time constants, time delays and so on, is considered in the problem formulation; (iii) the proofs of robust Lyapunov stability are easily carried out of an intuitive way by imposing terminal equality constraints and cost-contracting constraints; (iv) the suitable inclusion of slack variables, which does not commit the stabil ity properties of the controllers, ensure that the proposed optimization problems are always feasible; (v) stable integration with real-time optimization layer, seeing as the controllers are designed to work in the optimum target tracking scheme where they should drive the process to the optimum operating point, while maintaining the remaining inputs and outputs inside pre dened zones instead of xed set-points. Simulation examples typical of the process industry are exploited to illustrate the helpfulness of the proposed control methods and demonstrate that they can be implemented in real applications.