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S. Skogestad, ``Self-optimizing control: the missing link between steady-state optimization and control'', Comp.Chem.Engng., 24, 569-575 (2000).

Abstract.
Real-time steady-state optimization (RTO) has become increasingly popular in recent years. But how should this optimal policy be implemented in the control system? It is argued that the the goal is to find a set of controlled variables which, when kept at constant setpoints, indirectly lead to near-optimal operation with acceptable loss. This is denoted self-optimizing control.

Note: This version may be slightly different from the finally published journal paper.