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T. Clarke-Pringle and J. F. MacGregor, “Non-Linear Adaptive Temperature Control of Multi-Product, SemiBatch Polymerization Reactors,” Computers & Chemical Engineering, Vol. 21, No. 12, 1997, pp. 1395-1409.
http://dx.doi.org/10.1016/S0098-1354(97)00013-6

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