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Process Control: Modeling, Design, and Simulation by B. Wayne Bequette

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17.4. Notation

AJacobianstate space—relates states to the state derivatives
Binput matrixstate space—relates inputs to state derivatives
Coutput matrixstate space—relates states to outputs
D state space—direct transmittance from inputs to outputs
eerrorsetpoint—measured process output
lload (disturbance) input 
ppoleroots of the denominator polynomial of gp(s); equal to the eigenvalues of A
rsetpointdesired value of the output
sLaplace domain variablewhen used in frequency-response techniques, set s = jω
xstate variable 
youtput variablemeasured output (also known as the controlled variable or process variable)
umanipulated inputalso known as the controller output
zzeroroots of the numerator polynomial of gp(s) equal to the poles of
gp(s)process transfer ...

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