+------------------------+
        | Establish System goals |
        +------------------------+
                    |
                    |
        +------------------------+
        | Identify variables to  |
        |         Control        |
	+------------------------+
		    |
		    |
	+------------------------+
	|  Write specifications	 |
	|   for each variable    |
	+------------------------+
		    |
		    |
        +------------------------+
        |  Establish the system  |
+------>|    config & identify   |
|       |     the actuators(s)   |
|       +------------------------+
|                   |
|                   |
|	+------------------------+
|	|  Obtain a model of the |
|	|  process, actuator &   |
|	|	sensor 		 |
|       +------------------------+
|                   |
|                   |
|	+------------------------+
|	| Describe a controller &|
|	|  select key parameters |
No	|    to be adjusted	 |
|	+------------------------+
|		    |
|		    |
|	+-------------------------+
|	| Optimize the parameters |
|	| & analyze performance   |
|	+-------------------------+
|		   |
|		   |
|		   ^
|		  / \
|		 /   \
|	        /     \
|              /       \	     
|	      /         \	     +-----------+
+<----------  \Satisfied/----Yes---->| Implement |
	       \   ??  /	     +-----------+
		\     /
		 \   / 
		  \ /
		   V