Sigurd Skogestad "Integration of optimal operation and control" In "The integration of process design and control", Computed-Aided Chemical Engineering Series No. 17, Edited by P. Seferlis and M.C. Georgiadis, Elsevier, 2004 pp. 485-500 http://www.elsevier.com/wps/find/bookdescription.cws_home/702988/description