M. Fikar, Minimisation of process response deterioration due to constraints, Technical Report MF0002, Control Engineering Laboratory, FEE, Ruhr-University Bochum, 2000.

The report investigates problem of optimal handling of the constraints on signals. Their presence usually lowers performance of the closed-loop system and may even lead to instability. Assuming that the plant model and the controller are given, the task studied is: (i) to find a control sequence satisfying the constraints that minimises the degree of the process output degradation, (ii) to determine optimal transfer from nonlinear constrained mode back to linear controller, (iii) to guarantee stability of the overall scheme.