A comprehensive introduction to the concepts, techniques, and applications of model-based process control that presents the process control problem as a subset of overall plant operations problem rather than as a separate discipline. In addition, the approaches presented in the book are motivated by their use in solving practical problems, thus emphasizing methods rather than theory. The examples used to illustrate these methods and the MATLAB software that is included are further intended to assist the reader in the design and tuning of actual control systems.