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S. Skogestad, I.J. Halvorsen, T. Larsson and M.S. Govatsmark, ``Plantwide control: The search for the self-optimizing control structure'', Preprints 14th IFAC World Congress, Beijing, July 1999, Vol. N, 325-330.

The following important question is frequently overlooked: Which variables should we select to control? It is shown that the idea of selecting the variables that achieve self-optimizing control provides a link between steady-state optimization, feedback control, time scale separation and uncertainty.