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Integrated system design is a methodology that incorporates dynamic constraints in the early stages of process design. Hence assuring not only the production goals but also good dynamic performance. In this work we present an approach to integrated system design that considers non linear processes with non linear static constriants and one implicit constraint. The latter, the existance of a state feedback controller that satisfies performance requierements such as stability, robustness to disturbance and parametric uncertainty, and pole location. The controller is calculated for the set of systems obtained when linearizing the non linear plant calculated at each iteration of the non linear static optimization. The approach is applied to a pilot hidraulic system, and the results of the simulations are features including those where simply stability is requiered and those where more demanding performace criteria are requested.