Integrated optimization and control (or optimizing control) refers to a system where optimization and its control implementation are integrated. In theory, it should be possible to
obtain robust optimal operation with such a system. In practice, one often uses a hierarchical
decomposition with separate layers for optimization and control. In making this split we
assume that for the control system the goal of “acceptable operation” has been translated into
“keeping the controlled variables (c) within specified bounds from their setpoints (cs)”. The
optimization layer sends setpoint values (cs) for selected controlled outputs (