An output of a collaborative research project involving a Swedish SME machine builder Binar Electronik, Gothia Science Park, Sweden and DMU. The research resulted in advances in controller optimisation for Binar Electronik and found application in press-line automation systems (Binar customers include Volvo and Saab). A further application of the method and tools formulated were applied to control a differential drive press feed mechanism developed and patented by Binar Electronik (CEO Ingemar Pettersson, ip@binar.se).