If we replace the term “optimal adjustments” by “acceptable adjustments (in terms of the
loss)” then the above is a precise description of what Skogestad (2000) denote a self-optimizing control structure. The only factor Morari et al. (1980) fail to consider is the effect of the implementation error c – cs Morari et al. (1980) propose to select the best set of controlled variables based on minimizing the loss (“feedback optimizing control criterion 1”).