To address problems of point-to-point tracking control for batch processes

three different initial errors of non-ideal initial states were analyzed and studied for convergence by 2 D Roesser model within the framework of tracking control algorithm. Conditions were provided to achieve zero or a neighborhood of zero tracking control errors between system and reference trajectory at various scenarios. For these unable to achieve zero tracking errors

boundaries of final tracking errors were given. Numerical simulation validated these convergence conditions and boundaries

and assessed effect of control parameters on these boundaries.