A technique is presented for the design of a continuous nonlinear multivariable control algorithm from a set of simple, linear control models. The coefficients of the linear control models are dependent on the steady state operating point. The technique makes use of line integration and the method of least squares to bridge the gap between the sets of linear coefficients and the continuous nonlinear functions of the nonlinear algorithm. In general, the nonlinear control algorithm is nonunique. The method permits the extension of linear design procedures to the design of nonlinear control systems. It can be used to design a control system for a nonlinear process to maintain the dynamics of the entire system invariant with respect to changes in the operating point.

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