We propose an integrated method for optimization and control of semibatch reactors. Based on the desired control objective, dynamic programming is applied to obtain optimal operating trajectories. Yield optimization is assured for a real plant by tracking model-dependent optimal trajectories according to the proposed modified globally linearizing control (MGLC) structure. The behavior of the proposed MGLC structure is predictable and reliable, with tuning parameters based on the proposed tuning method if the manipulated variables are not constrained.