Control calculations for a control horizon of M = 1 can be performed either analytically or numerically. For the process model in Exercise 20.1 derive Kc1 for ?t = 1, N = 50, and P = 5, using Eq. 20-58. Compare your answer with the analytical result reported by Maurath et al. (1988):3

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[Si S2 S3... Sp] Ka = IM