Професор в Катедра "Системи за управление ", ФЕА,
Технически университет София, Филиал Пловдив
Адрес: бул. "Цанко Дюстабанов" №25, Пловдив 4000
Каб. 4418
Тел. 032/ 659 583
E-mail: mpetrov@tu-plovdiv.bg
Квалификация
2011 - Професор по Автоматизация на производството, Технически университет София, филиал Пловдив
1998 - Доцент по Автоматизация на производството, Технически университет София, филиал Пловдив
1989 – Доктор по Автоматизация на производството, Минно-геоложки университет София
1977 – Магистър-инженер по Техническа кибернетика, Технически университет Прага, Чехия
Преподаване
Системно проектиране, Компютърно-интегрирани производствени системи, Системен анализ, Предсказващо управление, Невронно и размито управление.
Научни интереси
Проектиране на системи за управление, Системи с предсказващо управление, Системи с размито и невронно-размито управление,Алгоритми за предсказващи и размити регулатори, Програмируеми логически контролери за управление на процеси.
Езици: Английски, Чешки, Руски
Публикации
Topalov A.V., M.G.Petrov. Some Applications of Neural Networks in Automatic Control Tasks. Preprints of the 1st Balkan IFAC - TYPE Conference on "Applied Automatic Systems", Ohrid, R. Macedonia,1993, pp.17-18.
Petrov M.G., A.V.Topalov. On Adaptive Fuzzy Control Using Neural Networks, Preprints of the 1st IFAC Workshop on New Trends in Design of Control Systems, Smolenice, Slovak Republic, Sept. 7-10, 1994, pp.144-149. (pdf)
Petrov M., T. Proychev, A. Topalov. Expert PID Controller with Fuzzy Self-Tuning. Preprints of the 3rd IFAC/IFIP Workshop on "Algorithms and Architectures for Real -Time Control, AARTC'95", Ostend, Belgium, May 31- June 2, 1995, pp.391-396. (pdf)
Topalov A., T. Proychev, M. Petrov. Translation and Rotation Invariant 2D Object Recognition for Vision-based Robot Control. Preprints of the 3rd IFAC/IFIP/IFORS Workshop, Intelligent Manufacturing Systems IMS '95, Bucharest, Romania. 24 - 26 October 1995, vol.1, pp.55-63. (pdf)
Proychev T., M.Petrov, A. Toplaov. A Tuning Method for Fuzzy Controllers Using Neural Networks. Preprints of the International Conference "Automation and Informatics’95”, Sofia, Bulgaria, 7 - 9 November, 1995, pp.36-40. (pdf)
Proychev T., M.Petrov, K.Ilieva, N.Staneva, I.Kosev. Fuzzy - Neural Adaptive Control of Mobile Robots. Preprints of the 2nd International, Cultural and Academically Meeting of Engineering Students, "ICAMES’96", Bogazici University, Istanbul, Turkey, 11-17 May, 1996.
Proychev T., M.Petrov. Fuzzy Navigation of Mobile Robots in Unstructured Environments. Preprints of the 2nd International Conference on "Fuzzy Based Expert Systems FUBEST’96", Sofia, 9 - 11 October 1996, pp.19 - 23. (pdf)
Petrov M., T.Proychev, A.Topalov. An Adaptive Hybrid Fuzzy - Neural Controller. Preprints of the 2nd IFAC Workshop on "New Trends in Design of Control Systems", Smolenice, Slovak Republic, 7 - 10 September, 1997, pp. 326 - 331. (pdf)
Topalov A., D. Tsankova, M. Petrov, T. Proychev. Intelligent Motion Planning and Control for Non-Holonomic Mobile Robot. Preprints of the 2nd IFAC Workshop on "New Trends in Design of Control Systems", Smolenice, Slovak Republic, 7 - 10 September, 1997, pp. 338 - 343.
Petrov M. Fuzzy Logic Controller with Neural Defuzzifier. Preprints of the 1st International Workshop on "Intelligent Control INCON’97", Sofia, Bulgaria, 13-15 October, 1997, pp. 93 - 98. (pdf)
Petrov M. Design Aspects of Fuzzy PID Controller. Journal of the Technical University at Plovdiv, "Fundamental Sciences and Applications", Vol. 5C, Bulgaria, 1997, pp. 25 - 34.
Petrov M. MATLAB Based Simulation of Intelligent Control Systems. Journal of Electrical Engineering, Published under auspices of the Czech - Slovak section of IEEE, Vol.49 , No 5 - 6, 1998, pp.139 - 144. (pdf)
Topalov A., D.Tsankova, M.Petrov, T. Proychev. Intelligent Sensor-Based Navigation and Control of Mobile Robot on Intelligent Autonomous Vehicles. Preprints of the 3rd IFAC Symposium on "Intelligent Autonomous Vehicles", Madrid, Spain, 25 - 27 March , 1998, Volume II, pp. 439 - 444.
Petrov M., I.Ganchev, I.Dragotinov. Design Aspects of Fuzzy PID Controller, Preprints of the International Summer School “Real Time Control‘98”, Prague, Czech Republic, 16 - 29 August, 1998, pp. 100 -105. (pdf)
Petrov M., I.Ganchev, I.Dragotinov, Fuzzy PID Controller based on Sugeno’s Fuzzy System, Preprints of the International Conference “Automation and Informatics’98”, Vol. 2, Sofia, Bulgaria, 20 - 23 October, 1998, pp. 37 - 41. (pdf)
Ganchev I., M.Petrov, I. Dragotinov. Real - Time Plant Models Simulation using Matlab/Simulink, Proceedings of the 24th International Conference "ICT&P'99", "Information and Interaction", Plovdiv, Bulgaria, 8 - 12 June, 1999, pp. 161 - 165.
Petrov M., I.Ganchev, I.Dragotinov, Design Aspects of Fuzzy PID Controllers, Preprints of the 5th International Conference on “Soft Computing, Mendel'99”, Brno, Czech Republic, 9 - 12 June,1999, pp. 277 - 282. (pdf)
Hyniova K., A.Stribrsky, M.Petrov, I. Ganchev. Animated Simulation of Controlled Technological Processes. Buletinul Institutului Politehnic din IASI, Vol. XLV (IL), No. 5A, Iasi, Romania, 1999, pp. 89 -94.
Hyniova K., A.Stribrsky, I. Ganchev, M.Petrov. Suspension of Vibration in Mechatronical Systems. Buletinul Institutului Politehnic din IASI, Vol. XLV (IL), No. 5A, Iasi, Romania, 1999, pp. 82 -88.
Petrov M., I.Ganchev, A.Stribrsky, K.Hyniova, Fuzzy PID Controller with Fuzzy Supervision, Preprints of the IFAC Conference on "Control Systems Design", Bratislava, Slovak Republic, 18 - 20 June 2000, pp. 471-476 (pdf)
Ganchev I., M.Petrov , K.Hyniova, A.Stribrsky, Auto-tuning of the Predictive PI Controller, Preprints of the 3rd IFAC Symposium on Robust Control Design "ROCOND '2000", Prague, Czech Republic, 21 - 23 June 2000. (pdf)
Petrov M., I.Ganchev, K. Kutryanski, A Study of the Fuzzy PID Controller, Preprints of the International Summer School on "Artificial Intelligence in Control and Measurement ", Brno, Czech Republic, 21 - 31 August, 2000, ISBN 80-214-1641-6, pp.93 - 99. (pdf)
Ganchev I., M.Petrov. Auto-tuning of controllers in time-delay systems. Proceedings of the 14th International Conference "Systems for Automation of Engineering and Research SAER'2000", Varna, Bulgaria, 18 - 20 September 2000, ISBN 954-8329-22-0, pp. 52-56.
Ganchev I., M.Petrov, K.Hyniova, A.Stribrsky, J.Honcu. Control of Plants with a Long Time-Delay. In: Proceedings of the 4th International Scientific-Technical Conference "Process Control '2000", Pardubice, Czech Republic, 2000. ISBN 80-7194-271-5, pp. 152.
Taneva A., M.Petrov. Review and Comparative Analysis of Conventional PID and Fuzzy PID Controller. Journal of the Technical University at Plovdiv, Bulgaria, "Fundamental Sciences and Applications", Vol. 9, 2000 - 2001, pp.95 -106.
Petrov M., I.Ganchev, A.Taneva, Overview of Fuzzy Neural Control Applications, Preprints of the International Summer School on "Automation'2001", Maribor, Slovenia, 16 - 24 June, 2001, ISBN 86-435-0411-4, pp.116 - 122. (pdf)
Ganchev I., M. Petrov. Auto-tuning of PD controller with Pulse-width modulation in systems with motor valve. Proceedings of the Annual Scientific Conference with International Participation,Technical University Varna, Bulgaria, 11 - 15 October, 2001, ISSN 1311-896X, pp. 300 - 305.
Ganchev I., M. Petrov. Combined Method for Autotuning of Controllers in Cascade Systems. Proceedings of the International Scientific Conference UNITECH'01, Gabrovo, Bulgaria, 20 - 26 November, 2001, ISBN 954-683-167-0, Vol. 1, pp. 191-196.
Petrov M., I.Ganchev, A.Taneva. Fuzzy PID Control of Nonlinear Plants, Preprints of the International Summer School on "Automation'2002", Split, Croatia, 16 - 29 June, 2002. (pdf)
Petrov M., I. Ganchev, A. Taneva. Fuzzy PID Control of Nonlinear Plants. Proceedings of the IEEE International Symposium on "Intelligent Systems", Varna, Bulgaria, 10 -13 September, 2002, IEEE Catalog Number 02EX499, ISBN 0-7803-7601-3, Vol. 1, pp. 30 - 35. (pdf)
Petrov M., D. Cankova, I. Ganchev, A.Taneva. Laboratory exercises on "Optimization Methods in Computer Integrated Manufacturing Systems" (in Bulgarian). Edition of the Technical University - Sofia, branch in Plovdiv, 2002. (pdf)
Petrov M., I. Ganchev, A. Taneva. Fuzzy Model Predictive Control of Nonlinear Processes. Preprints of the International Conference on "Automation and Informatics '2002", Sofia, Bulgaria, 5 -7 November, 2002. ISBN 954-9641-30-9, pp. 77-80. (pdf)
Chitanov V., C.Kiparissides, M.Petrov. Model Predictive Control of Polymer Reactors. Preprints of the International Summer School on "Advanced Control Theory and Applications ACTA '2003", Plovdiv - Gabrovo, Bulgaria, June 16 - 29, 2003, pp. 40 - 47. (pdf)
Lalov I., M. Petrov, I. Vragov. Efficient Rates of Grinding Mill Aggregate and Grinding Mill Compartment. Proceedings of the X Balkan Mineral Processing Congress, Mineral Processing in the 21st Century, 15 - 20 June, 2003, Varna, Bulgaria, pp. 481-485.
Lacko B., M. Petrov. Automatizace v zemich s nastupujici trzni ekonomikou (in czech). AT&P Journal, Czech Republic, May, 2003. pp. 14 - 16.
Cankova D. , M. Petrov. Laboratory exercises on "Advanced Control Theory, Part I : Optimal Control" , Edition of Technical University - Sofia, branch Plovdiv, 2003, p. 111. ISBN: 954-8779-48-X.
Chitanov V., C. Kiparissides, M. Petrov. Neural - Fuzzy Modeling of Polymer Quality in Batch Polymerization Reactors. Preprints of Symposium on Knowledge Driven Batch Processes 'BATCHPRO', Poros, Greece, June 6 - 9, 2004, pp. 289 - 299. (pdf)
Taneva A., N. Muskinja, M. Petrov, B. Tovornik. FPID Controller: Real Time Application. Proceedings of the Second International IEEE Conference on "Intelligent Systems", St. st. Constantine and Helena, Bulgaria, 22 - 24 June, 2004, IEEE Catalog Number 04EX791C, ISBN 0-7803-8279-X, Vol. III, pp. 39 - 42. (pdf)
Chitanov V., C. Kiparissides, M. Petrov. Neural - Fuzzy Modeling of Polymer Quality in Batch Polymerization Reactors. Proceedings of the Second International IEEE Conference on "Intelligent Systems", St. Constantine and Helena, Bulgaria, 22 - 24 June, 2004, IEEE Catalog Number 04EX791C, ISBN 0-7803-8279-X, Vol. III, pp. 67 - 72. (pdf)
M. Georgieva, N.Petkov, M.Petrov, A.Taneva. Internal Fuzzy Neural Model for PID Control Tuning. Preprints of the International Summer School on " Control Theory and Applications ", Graz, Austria, 1 - 14 September, 2004. (pdf)
M. Georgieva, M.Petrov, A.Taneva. RLS Method for Training of TS Fuzzy Neural Model. Preprints of the International Summer School on " Control Theory and Applications ", Graz, Austria, 1 - 14 September, 2004. (pdf)
Ganchev I., M. Petrov, N. Petkov. Autotuning of Cascade Systems with Auxiliary Corrector. Proceedings of the 18th International Conference on Systems for Automation of Engineering and Research SAER-2004, St. Constantine and Helena, Varna, Bulgaria, 24 - 26 September, 2004. (pdf)
Lalov I., I. Vragov, M. Petrov. Conception of Developing a Highly Efficient Control System of a Grinding Aggregate. Proceedings of the XI Balkan Mineral Processing Congress, 22 - 26 May, 2005, Durres, Albania, pp. 389 - 393.
Terzyiska M., Y. Todorov, M. Petrov. Supervisory Tuning of Nonlinear Model Predictive Controller. Proceedings of the International Conference on " Intelligent Control Systems ", Brno, Czech Republic, 29 August - 11 September, 2005. ISBN 80-214-2976-3, pp. 128 - 133.(pdf)
Terzyiska M., Y. Todorov, M. Petrov. Multivariable Nonlinear Fuzzy – Neural Predictive Controller. Scientific Conference with International Participation ‘FOOD SCIENCE, ENGINEERING AND TECHNOLOGIES 2005’, University of Food Technologies, Plovdiv, Bulgaria, Scientific Works Vol. LII, Issue 3, 13 – 14 October, 2005. ISSN 0477-0250, pp. 208 - 213 (pdf)
Taneva A., M. Petrov, I. Ganchev. Modified Fuzzy PID Control Algorithms for Nonlinear Process Control. Proceedings of the International Conference 'ISAC 2006' on " Modern Trends in Control", Kosice, Slovak Republic, 15 - 30 June 2006. ISBN 80-969224-6-7, pp. 275 - 288.(pdf)
Terzyiska M., Y. Todorov, M. Petrov. NMPC with Adaptive Learning Rate Scheduling of an Internal Fuzzy-Neural Model. Proceedings of the International Conference 'ISAC 2006' on " Modern Trends in Control", Kosice, Slovak Republic, 15 - 30 June 2006. ISBN 80-969224-6-7, pp. 289 - 298.(pdf)
Terzyiska M., Y. Todorov, M. Petrov. Nonlinear Model Predictive Controller using a Fuzzy - Neural Hammerstein model. Proceedings of the International Conference 'ISAC 2006' on " Modern Trends in Control", Kosice, Slovak Republic, 15 - 30 June 2006. ISBN 80-969224-6-7, pp. 299 - 308.(pdf)
Terzyiska M., Y. Todorov, M. Petrov. Fuzzy-Neural Model Predictive Control of a Building Heating System. IFAC WS ESC’06 ENERGY SAVING CONTROL IN PLANTS AND BUILDINGS, October 2 - 5, 2006 Bansko, Bulgaria, ISBN-10: 954-9641-47-3, pp.69 - 74. (pdf)
Terzyiska M., Y. Todorov, M. Petrov. Adaptive Supervisory Tuning of Nonlinear Model Predictive Controller for a Heat Exchanger. IFAC WS ESC’06 ENERGY SAVING CONTROL IN PLANTS AND BUILDINGS, 2 - 5 October , 2006 Bansko, Bulgaria, ISBN-10: 954-9641-47-3, pp.93 - 98. (pdf)
Terzyiska M., Y. Todorov, M. Petrov. Improving Performance of Nonlinear Model Predictive Controller by using an Incorporated Digital Filter. Scientific Conference with International Participation "FOOD SCIENCE AND TECHNOLOGIES '2006", University of Food Technologies, Plovdiv, Bulgaria, Scientific Works Vol. LIII, Issue 2, 27 - 28 October 2006, ISSN 0477-0250, pp.111 - 116. (pdf)
Terzyiska M., Y. Todorov, M.Petrov. Comparative Study of Different Intelligent Control Algorithms. Scientific Conference with International Participation "FOOD SCIENCE AND TECHNOLOGIES '2006", University of Food Technologies, Plovdiv, Bulgaria, Scientific Works Vol. LIII, Issue 2, 27-28 October 2006, ISSN 0477-0250, pp.117 - 122. (pdf)
Vragov I., M. Petrov, I. Lalov. Model Based Supervisory Control of a Mill Aggregate. Proceedings of National Scientific and Technical Conference on Automation with International Participation "BULICAMC '06". Sofia, Bulgaria, 7 - 8 November, 2006, ISBN-10: 954-91547-4-2, pp. 115 -120. (pdf)
Taneva A, M. Petrov, Iv. Ivanov, M. Poryazov. WEB Based Application and PLC’S Communication for Monitoring and Control. Journal of the Technical University at Plovdiv “Fundamental Sciences and Applications”, Vol. 13, 2006 Anniversary Scientific Conference’ 2006, BULGARIA, pp.199 -204. (pdf)
Petrov M., I. Ganchev, A. Taneva, M. Terzyiska. Nonlinear Model Predictive Control of an Evaporator System: a Case Study. Journal of the Technical University at Plovdiv “Fundamental Sciences and Applications”, Vol. 13, 2006 Anniversary Scientific Conference’ 2006, BULGARIA, pp.205 -215. (pdf)
Todorov Y., M. Terzyjiska, M. Petrov. Nonlinear Model Based Predictive Controller Using a Fuzzy-Neural Wiener-Hammerstein Model. 16th Int. Conference Process Control 2007, June 11–14, 2007, Strbske Pleso, Slovakia, pp. 216-1 - 216-6. (pdf)
Taneva A., M.Petrov, I.Ganchev, I. Ivanov. Fuzzy Control of a Nonlinear MIMO Plant. CEEPUS WEB Summer School 2007 - "Informatics Systems in Automation" University of Maribor, Faculty of Electrical Engineering and Computer Science, Maribor, Slovenia, 14 th - 28 th September, 2007 (pdf)
Petrov M., A.Taneva, I. Ganchev. Fuzzy Model Predictive Control Algorithm, Case Study. I International Symposium ADVANCED MODEL PREDICTIVE CONTROL. Proceedings of INTERNATIONAL CONFERENCE AUTOMATICS AND INFORMATICS ’07 , October 3 – 6, 2007, Sofia, Bulgaria. pp. I-9 - I-12. (pdf)
Chitanov V., M. Petrov. Fuzzy-Neural Model Predictive Control Algorithm for Temperature Control of Polymer Reactor Mixture. I International Symposium ADVANCED MODEL PREDICTIVE CONTROL. Proceedings of INTERNATIONAL CONFERENCE AUTOMATICS AND INFORMATICS ’07 , October 3 – 6, 2007, Sofia, Bulgaria. pp. I-29 - I-32. (pdf)
Taneva A., M. Petrov, I. Ganchev. Fuzzy Control of an Evaporator System. III International Symposium BIOINFO’07. Proceedings of INTERNATIONAL CONFERENCE AUTOMATICS AND INFORMATICS ’07 , October 3 – 6, 2007, Sofia, Bulgaria. pp. III-61 - III-64. (pdf)
Petrov M., A. Taneva, I. Ganchev. Fuzzy PID Controller Design in MATLAB Environment. IV Workshop Computer Aided Education in Systems and Control. Proceedings of INTERNATIONAL CONFERENCE AUTOMATICS AND INFORMATICS ’07 , October 3 – 6, 2007, Sofia, Bulgaria. pp. IV-57 - IV-61. (pdf)
Petrov M., A. Taneva, T. Puleva, E. Garipov. Parallel Distributed Fuzzy PID Control of Hydro Turbine Generator. Proceedings of the 9th WSEAS International Conference on FUZZY SYSTEMS (FS’08), May 2-4, 2008, Sofia, Bulgaria, pp. 73 - 78. (pdf)
Petrov M., A. Taneva, T. Puleva, S. Ahmed. Parallel Distributed Neuro-Fuzzy Model Predictive Controller Applied to a Hydro Turbine Generator. Proceedings of the Forth International IEEE Conference on "Intelligent Systems", Golden Sands resort, Varna, Bulgaria, 6 - 8 September, 2008, IEEE Catalog Number CFP08802-PRT, ISBN 978-1-4244-1740-7, Vol. I, pp. 9-20 - 9-25. (pdf)
Petrov M., V. Chitanov, A. Ichtev, S. Ahmed. Fuzzy-Neural Model Based Predictive Control Algorithm for Control of a Polymerization Reactor. Proceedings of INTERNATIONAL CONFERENCE AUTOMATICS AND INFORMATICS ’08 , October 1 – 4, 2008, Sofia, Bulgaria. pp. I-1 - I-5. (pdf)
Chitanov, Vassiliy and Petrov, Michail (2009). Multivariable Fuzzy - Neural Model of Polymer Process. The Berkeley Electronic Press, Chemical Product and Process Modeling. Volume 4 , Issue 1, Article 10, 2009. pp. 1 - 11. (http://www.bepress.com/cpmm/vol14/iss1/10)
Christova N., M. Petrov, G. Spasov. Computer Integrated Manufacturing Systems (in Bulgarian) . Automatica & Informatics, Year XLIII, No. 2/2009, pp. 7 - 12.
Ichtev Al., M. Petrov, S. Ahmed. Observer Based Fault Diagnostic for a Servo System. Proceedings of 19th National Scientific Symposium with International Participation "Metrology and Metrology Assurance 2009". 10 - 14 September, 2009, Sozopol, Bulgaria, pp. 505 - 511. (pdf)
Ichtev Al., N. Atanasov, M. Petrov. Parameter Estimation for Fault Diagnostic of a Servo System. Proceedings of Summer School on "Advanced Aspects of Theoretical Electrical Engineering - Sozopol '09" . Part II : Regular Papers. 20 - 23 September, 2009, Sozopol, Bulgaria. (pdf)
Ahmed S., M. Petrov, A. Ichtev. Model Predictive Control of a Laboratory Model – Coupled Water Tanks. Proceedings of INTERNATIONAL CONFERENCE AUTOMATICS AND INFORMATICS ’09, October 1 – 4, 2009, Sofia, Bulgaria. pp. VI-33 - VI-35. (pdf)
Petrov M., S. Ahmed, A. Taneva, A. Ichtev. Model Predictive Controller Applied to Level Control. Proceedings of INTERNATIONAL CONFERENCE AUTOMATICS AND INFORMATICS ’09 , October 1 – 4, 2009, Sofia, Bulgaria. pp. VI-37 - VI-40. (pdf)
Petrov M., A. Topalov, A. Taneva, N. Shakev. Lecture notes in Artificial Intelligence Methods in Control Systems. Part I. Fuzzy Logic and Control (in Bulgarian). Edition of theTechnical University - Sofia , 2009, p. 168. ISBN 978-954-438-801-0.
Taneva A. , M. Petrov. Real –Time Monitoring and Control Through the Internet. „ICSC– EIGHTH INTERNATIONAL CONFERENCE ON SOFT COMPUTING APPLIED IN COMPUTER AND ECONOMIC ENVIRONMENTS” EPI Kunovice, Czech Republic. January 22, 2010, pp. 147-152. (pdf).
Ahmed S., M. Petrov, A. Ichtev. Fuzzy Model-Based Predictive Control Applied to Multivariable Level Control of Multi Tank System. Proceedings of 2010 IEEE International Conference on Intelligent Systems (IS 2010), July 7 – 9, 2010, London, UK. pp. 456 - 461. (pdf)
Ahmed S., M. Petrov , A. Ichtev. Fuzzy-Neural Model Predictive Control of a Laboratory Model of Two-Rotor Helicopter. Proceedings of INTERNATIONAL CONFERENCE AUTOMATICS AND INFORMATICS ’10 , October 3 – 7, 2010, Sofia, Bulgaria. pp. I-139 - I-142. (pdf)
Todorov Y., S. Ahmed S., M. Petrov . Model Predictive Control of a Lyophilization Plant: A Newton Method Approach. Proceedings of INTERNATIONAL CONFERENCE AUTOMATICS AND INFORMATICS ’11 , October 3 – 7, 2011, Sofia, Bulgaria. pp. B-89 - B-92. (pdf)
Taneva A., M. Petrov, I.Ganchev. HYBRID PID CONTROL ALGORITHMS FOR NONLINEAR PROCESS CONTROL. Journal of ELECTRICAL ENGINEERING, VOL. 62, NO. 3, 2011, 147–152 (pdf)
Petrov M., S. Ahmed, A. Ichtev, A. Taneva. Fuzzy–Neural Model Predictive Control of Multivariable Processes. Chapter in the Book “Advanced Model Predictive Control”. Edition of the InTech Open Access Publisher, 2011, pp. 125 - 150, ISBN 978-953-307-687-4. (pdf)