Text this: Local self-optimizing control of constrained processes

 ______     _____     _____      ___      ____    
|      \\  |  ___||  /  ___||   / _ \\   |  _ \\  
|  --  //  | ||__   | // __    / //\ \\  | |_| || 
|  --  \\  | ||__   | \\_\ || |  ___  || | .  //  
|______//  |_____||  \____//  |_||  |_|| |_|\_\\  
`------`   `-----`    `---`   `-`   `-`  `-` --`