Guidance system by control of derivative

A guidance system for controlling during each of a plurality of control instants k a process having at least one input variable and at least one output variable, at least one of said output variables defining an output vector and at least one of said input variables defining an input vector, said guidance system generating a control vector that varies said input vector to guide said output vector towards an output set point vector, said guidance systems comprising:

• a. Computation block means responsive to said output vector for generating a derivative vector.
• b. Guidance block means responsive:
• (i) to said output vector and said output set point vector for generating a desired output trajectory for each one of the components of said output vector, this set of desired output trajectories driving said output vector towards said output set point vector with desired dynamics, and (ii) to each one of said desired output trajectories for generating a set point value for each one of the corresponding components of said derivative vector.
• c. Multi-input multi-output model based advanced controller means responsive to said components of said derivative vector and their corresponding set point values for generating a control vector which must be applied to the process at control instant k varying said input vector to drive said components of said derivative vector towards their corresponding set point values and, consequently, said components of said output vector towards their corresponding desired trajectories.