An iterative dynamic optimization methodology is developed for on-line opti
mization of batch processes in the presence of plant-model mismatch and mea
surable error. In the proposed method, the plant-model mismatch is effectiv
ely eliminated by using information from previous batches to modify the tra
jectories that are applied to the subsequent. ones. In addition, the effect
of modelling error on the convergence of this algorithm is investigated. T
he utility of the proposed method is illustrated through the end-point opti
mization problem in the batch crystallization process, and comparisons to o
ther optimization methods are made.