A comparison of nonlinear observers for output feedback model-based control of seeded batch crystallization processes

Abstract

This paper presents a comparative analysis of various nonlinear estimation techniques when applied for output feedback model-based control of batch crystallization processes. Several nonlinear observers, namely an extended Luenberger observer, an extended Kalman filter, an unscented Kalman filter, an ensemble Kalman filer and a moving horizon estimator are used for closed-loop control of a semi-industrial fed-batch crystallizer. The performance of the nonlinear observers is evaluated in terms of their closed-loop behavior as well as their ability to cope with model imperfections and process uncertainties such as measurement errors and uncertain initial conditions. The simulation results suggest that the extended Kalman filter and the unscented Kalman filter provide accurate state estimates that ensure adequate fulfillment of the control objective. The results also confirm that adopting a time-varying process noise covariance matrix further enhances the estimation accuracy of the latter observers at the expense of a slight increase in their computational burden. This tuning method is particularly suited for batch processes as the state variables often vary significantly along the batch run. It is observed that model imperfections and process uncertainties are largely detrimental to the accuracy of state estimates. The degradation in the closed-loop control performance arisen from inadequate state estimation is effectively suppressed by the inclusion of a disturbance model into the observers.