Integrated scheduling and control (SC) seeks to unify the objectives of the various layers of optimization in manufacturing. This work investigates combining scheduling and control using a nonlinear discrete-time formulation, utilizing the full nonlinear process model throughout the entire horizon. This discrete-time form lends itself to optimization with time-dependent constraints and costs. An approach to combined SC is presented, along with sample pseudo-binary variable functions to ease the computational burden of this approach. An initialization strategy using feedback linearization, nonlinear model predictive control, and continuous-time scheduling optimization is presented. The formulation is applied with a generic continuous stirred tank reactor (CSTR) system in open-loop simulations over a 48-h horizon and a sample closed-loop implementation. The value of time-based parameters is demonstrated by applying cooling constraints and dynamic energy costs of a sample diurnal cycle, enabling demand response via combined scheduling and control. (C) 2018 Elsevier Ltd. All rights reserved.