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Before it emerged as a unique discipline, control engineering was practiced as a part of [[mechanical engineering]] and [[control theory]] was studied as a part of [[electrical engineering]] since [[electrical circuits]] can often be easily described using control theory techniques. In the first control relationships, a current output was represented by a voltage control input. However, not having adequate technology to implement electrical control systems, designers were left with the option of less efficient and slow responding mechanical systems. A very effective mechanical controller that is still widely used in some hydro plants is the [[Centrifugal governor|governor]]. Later on, previous to modern [[power electronics]], process control systems for industrial applications were devised by mechanical engineers using [[pneumatics|pneumatic]] and [[Hydraulic system|hydraulic]] control devices, many of which are still in use today.
===Mathematical modelling===
[[David Quinn Mayne]], (1930-2024) was among the early developers of a rigorous mathematical method for analysing [[Model predictive control]] algorithms (MPC). It is currently used in tens of thousands of applications and is a core part of the advanced control technology by hundreds of process control producers. MPC's major strength is its capacity to deal with nonlinearities and hard constraints in a simple and intuitive fashion. His work underpins a class of algorithms that are provably correct, heuristically explainable, and yield control system designs which meet practically important objectives.<ref name=P&A>{{cite web|author1=Parisini, Thomas|author2=Astolfi, Alessandro|title=Professor David Q Mayne FREng FRS 1930 - 2024|url=https://www.imperial.ac.uk/news/253973/professor-david-mayne-freng-frs-1930/|date= 10 June 2024|publisher=[[Imperial College London]] news|access-date=14 June 2024}}</ref>
== Control systems ==
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