Recent work on feedback-based optimization (2025).<p>

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The slides (pdf) show how to combine RTO, Extremum-seeking control (ESC) self-optimizing control (SOC) with constraint switching and is based on the following four papers from 2024:
(all very interesting, I think):
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* Optimal switching of MPC cost function for changing active constraints. LF Bernardino, S Skogestad. Journal of Process Control 142, 103298. 2024
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* Decentralized control using selectors for optimal steady-state operation with changing active constraints LF Bernardino, S Skogestad. Journal of Process Control 137, 103194 5 2024
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* Primal-dual feedback-optimizing control with override for real-time optimization R Dirza, S Skogestad. Journal of Process Control 138, 103208 3 2024
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* Optimal measurement-based cost gradient estimate for feedback real-time optimization LF Bernardino, S Skogestad. Computers & Chemical Engineering, 108815 2024
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The last paper give analytical formulas for H for self-optimizing control which may be used to obtain the gradient estimate (Ju = Hy) as an alternative to more complex approaches.