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Morari's book, "Robust Process Control," is a comprehensive textbook on advanced control systems. The book provides a detailed treatment of robust control theory, including: If you're interested in downloading the PDF version

: Formulating control problems using sensitivity and complementary sensitivity functions to balance performance against robustness. 3. Practical Application Robust process control : Morari, Manfred - Internet

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The book is written in a clear and concise manner, making it accessible to graduate students, researchers, and practitioners in the field of process control.