A Robust Nonlinear Adaptive Backstepping Controller for a CSTR

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• 作者：R. B. Gopaluni ; I. Mizumoto ; and S. L. Shah
• 刊名：Industrial & Engineering Chemistry Research
• 出版年：2003
• 出版时间：October 1, 2003
• 年：2003
• 卷：42
• 期：20
• 页码：4628 - 4644
• 全文大小：254K
• 年卷期：v.42,no.20(October 1, 2003)
• ISSN：1520-5045

文摘

Nonlinear backstepping is a recursive design methodology that makes use of the Lyapunovstability theory. Although backstepping can be applied to a larger class of systems than otherdifferential-geometric methods such as feedback linearization, its applicability is limited to"parametric pure-feedback systems". In this work, we apply the idea of backstepping to abenchmark chemical reactor by using a simple transformation of the original nonlinear modelof the chemical reactor. This chemical reactor does not fall under the category of systems forwhich backstepping can be applied. However, the fundamental idea involved in backsteppingcan still be applied to this process after a certain transformation of the original variables. Arobust adaptive nonlinear controller is also designed by introducing uncertainty into all of theestimated parameters. This type of uncertainty leads to nonaffine uncertain parameters thatare difficult to handle with the traditional backstepping algorithm. Using Lyapunov theory, wederive a controller that can ensure robust stability.