A Self-Organizing Process Control Architecture is introduced with a Sensing Layer, Control Layer, Actuation Layer, Process Layer, as well as Self-Organizing Sensors (SOS), Self-Organizing Actuators (SOA), and Self-Organizing Actuation and Control Units (SOACU). The method and apparatus of SOA and SOACU for process control are presented. A control system as a case example for a gas mixing process is described using the unique SOA and SOACU approaches. A 2x1 Robust MFA (Model-Free Adaptive) controller as a key component of the SOACU is also disclosed.
 This invention was made with government support under SBIR grant DE-SC0008235 and SBIR grant DE-FG02-08ER84944 awarded by the U.S. Department of Energy. The government has certain rights to the invention.