Consider the batch reactor system simulated by Aziz et al. { }^{3} The two reactions, A + B \rightarrow C and A + C \rightarrow D, are carried out in a jacketed batch reactor, where C is the desired product and D is a waste product. The manipulated variable is the temperature of the coolant in the cooling jacket. There are two inequality constraints: upper and lower bounds on the coolant temperature and an upper limit on the maximum reactor temperature. Using the model parameters specified by Aziz et al., evaluate the following control strategies for a set-point change from 20^{\circ} C to 92^{\circ} C.
(a) PID controller
(b) Batch unit
(c) Batch unit with preload
(d) Dual-mode controller