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The Internal Model Control (IMC) design concept Introduced by us in part 1 is extended to multiinput-multioutput discrete time systems. The IMC structure provides a practical tool to influence dynamic performance and robustness to modeling errors transparently in the design. In addition, the important issues of multivariable time delay compensation, stability in the presence of input constraints, and closed-loop decoupling are addressed naturally in the IMC procedure. All these features make IMC a powerful tool for controlling complex industrial processes.

A model predictive control technique based on a step response model is developed using state estimation techniques. The standard step response model is extended so that integrating systems can be treated within the same framework. Based on the modified step response model, it is shown how the state estimation techniques from stochastic optimal control can be used to construct the optimal prediction vector without introducing significant additional numerical complexity. In the case of integrated or double integrated white noise disturbances filtered through general first-order dynamics and white measurement noise, the optirnal filter gain is parametrized explicitly

Digital technologies offer new opportunities for learning in an increasingly connected society, in which learning to work with others and collaborate has become an extremely important skill. This article presents the results of a research study into the conceptions and practices of working teachers regarding collaborative learning methodologies mediated by information and communication technologies (ICT) in Elementary and Secondary Education schools. We analyze data concerning ICT contributions to collaborative work processes in the classroom, from the point of view of teachers at schools accredited with a high level of ICT by the Regional Government of Castile and Leon. We furthermore take into account the limitations of these tools, as well as teachers' conceptions of collaborative learning strategies. The methodology is based on the content analysis of interviews of teachers from a representative sample of schools. The results indicate that teachers think that ICT have great potential for enhancing collaborative activities among students and for developing highly relevant generic skills, although they are also aware of the difficulties that both students and teachers face in educational practice. RESUMENLas tecnologías digitales ofrecen nuevas oportunidades para el aprendizaje en una sociedad cada vez más conectada, en la cual aprender a trabajar con otros y colaborar se convierte en una competencia trascendental. El texto presenta resultados de una investigación sobre concepciones y prácticas del profesorado en ejercicio acerca de las metodologías de aprendizaje colaborativo mediadas por las tecnologías de la comunicación (TIC), en centros de enseñanza de Educación Primaria y Secundaria. En el artículo se analizan los datos referidos a las aportaciones de las TIC para llevar a cabo procesos de trabajo colaborativo en el aula, desde el punto de vista de los docentes de los centros acreditados con alto nivel TIC por la Junta de Castilla y León. También se expondrán las limitaciones que imponen estas herramientas, así como las concepciones docentes sobre las estrategias de aprendizaje colaborativo. La metodología se basa en el análisis de contenido de entrevistas realizadas a equipos docentes de una muestra representativa de centros educativos. Los resultados apuntan que en estos centros los docentes atribuyen a las TIC una alta potencialidad para enriquecer las actividades de trabajo colaborativo entre los estudiantes y conseguir el desarrollo de competencias transversales de gran relevancia, aunque son conscientes de las dificultades a las que tanto alumnos como profesores se enfrentan en la práctica educativa.

An algorithm Is proposed to improve optimization on liquid-liquid equilibrium data to obtain liquid solution model parameters. The method increases the efficiency of the Marquardt technique coupled with a penalty function. The algorithm was tested with the UNIQUAC and NRTL liquid solution models.

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