Abstract
The design of a model reference nonlinear feedback controller is proposed for the control of nonlinear system x = f(x) + g(x)u + d(t), y = h(x) which has a relative order two. The controller design method is applied theoretically to the concentration control of a non-isothermal CSTR. Integral and derivative control actions are incorporated in the control law. Theoretical analysis on robustness of the proposed controller under process/model mismatch is provided.
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