NONLINEAR FEEDBACK CONTROL OF A CSTR

The design of a robust nonlinear feedback controller is addressed for an N-degree-of-freedom robot with bounded uncertainty in the dynamic model's parameters. It is demonstrated that the proposed controller makes the robot system practically stable when both unknown payload variation and joint frictional force are taken into consideration. It is also shown that this controller can guarantee the practical stability of the robot system when a collision between the robot and its environmental occurs. Sufficient conditions for global practical stability are derived using Lyapunov's second method. A numerical simulation of a two-link robot manipulator with bounded parameter to illustrate the proposed control system. >

A frequency domain approach to the analysis and design of nonlinear feedback controller for suppressing periodic disturbances is studied and some preliminary results in this subject are provided by applying the theory and method established before. Although there are already some time-domain methods, which can address nonlinear control problems based on Lyapunov stability theory, few results are available for analysis and design of a nonlinear feedback controller in the frequency domain to achieve a desired frequency domain performance. Based on the analytical relationship between system output spectrum and controller parameters defined by the OFRF, this chapter demonstrates a systematic frequency domain approach to exploiting the potential advantage of nonlinearities to achieve a desired output frequency domain performance for the analysis and design of vibration systems. Compared with other existing methods for the same purposes, the method in this chapter can directly relate the nonlinear parameters of interest to the system output frequency response and the designed controller may also be realized by a passive unite in practice.

The performance of CSTR's can be affected significantly by the presence of channeling, for irreversible exothermic first and second order reactions, under adiabatic conditions. Theoretical curves exhibit the variation of the conversion with residence time, for different channeling intensities and various values of the kinetic parameters. A certain degree of channeling can be greatly beneficial to the reactor performance, especially when the activation energy and heat of reaction are high, where multiple steady states can exist. For second order reactions, the ratio of the initial concentrations of A and B, considered as a parameter, plays a role similar to that of the kinetic parameters.

Circle Condition-Based Robust Feedback Control Against Plant Perturbation

We focus on the design of robust reduced-order dynamic feedback control for a class of nonlinear systems with uncertainties. A robust nonlinear reduced-order dynamic controller (RNRDC) is proposed. The resulting closed-loop system can be robustly stabilized for all admissible uncertainties via the proposed controller. The application of the proposed RNRDC to a permanent magnet brush DC motor driving a single-link manipulator is also considered. The parameters uncertainties can be up to /spl plusmn/80%. The load can vary ranging from 50% to +100% of the nominal value. Our simulation results show that for the example system the proposed RNRDC can achieve good performance.

A nonlinear robust controller design method is proposed for the lateral control of heavy vehicles for automated highway systems. In the controller design, the actuator dynamics is explicitly taken into account. A first order pre-filter is introduced to reduce chattering which is inherent in the nonlinear robust controller and to prevent the saturation in the front wheel steering angle and steering system slew rate. A constructive backstepping design technique is utilized in the design of a robust controller for the augmented system. Simulation results are shown.

Catalyst ignition and extinction: A microkinetics-based bifurcation study of adiabatic reactors for oxidative coupling of methane

SummaryThis article addresses a novel technique for the simultaneous design of a robust nonlinear controller and static anti‐windup compensator (AWC) for uncertain nonlinear systems under actuator saturation and exogenous bounded input. The system is presumed to have locally Lipschitz nonlinearities, time‐varying uncertainties (appearing both in the linear as well as nonlinear dynamics and both in the state in addition to the output equations), and external norm‐bounded inputs both in the state and the output equations. Several bilinear matrix inequality–based conditions are derived to simultaneously design the robust nonlinear controller and AWC gains for uncertain nonlinear systems by employing the Lyapunov functional, reformulated Lipschitz property, uncertainty bounds, linear parameter‐varying approach, modified local and global sector conditions, iterative linear matrix inequality algorithm, convex optimization procedure, and gain minimization. The proposed multiobjective AWC‐based dynamic robust nonlinear controller guarantees the mitigation of saturation effects, robustness against time‐varying parametric norm‐bounded uncertainties, the asymptotic stability of the closed‐loop nonlinear system under zero external disturbances, and the attenuation of disturbance effects under nonzero external disturbances. The effectiveness of the proposed AWC‐based dynamic robust nonlinear controller synthesis scheme is illustrated by simulation examples.

Detailed in this paper is a SISO non-linear modelling and robust controller design methodology experimentally verified on an internal combustion engine. The methodology begins with the identification of a NARMAX model that captures the non-linear dynamics relating the input to the output of a system. This model is converted to a describing function representation for the purpose of robust feedback controller design. The ideology for the describing function recovery is developed in the form of an algorithm which can be extended to other NARMAX model structures not considered here. The controller design is executed in the frequency domain where the output performance specification is |y(t)|≤β∀t>0 and the actuator saturation constraint is |u(t)|≤K∀t>0. For the engine idle speed control application of this study, a SISO NARMAX model of the engine is developed between the by-pass idle air valve (BPAV) and engine speed. The performance objective for the controller design is the time domain tolerance of |Δ rpm| ≤ 100 rpm on idle speed perturbations despite a non-measurable 20 N m external torque disturbance. The controller is validated through numerical simulations as well as experimental verification.

Gain-scheduled Composite Non linear Feedback (CNF) control has been implemented to Continuous Stirred Tank Reactor (CSTR) in this work. Chemical reaction takes place inside the CSTR, which is adjured from high residual concentration to low residual concentration. Control of CSTR is a bit complex, as it requires complete dynamic study and its implementation. During the entire process, the reaction kinetics changes from stable-unstable-stable range with the decrease in residual concentration. To stabilize the reaction, appropriate cooling is necessary, to ensure that overheating of the CSTR doesn't occur. Gain-scheduled composite non linear feedback controller has been implemented successfully for better tracking performance and error has been computed in terms of Integral of Absolute Error (IAE). The novelty of the work lies in lesser error obtained for this particular model of CSTR. Comparison of the IAE has been done with Model Reference Adaptive Control (MRAC) MIT control in CSTR.

This paper presents the design and implementation of optimal and robust state feedback controller for rotary inverted pendulum system. The Particle Swarm Optimization (PSO) method is used to find the optimal values of the state feedback gains subject to time response specifications and H_∞ constraints. To improve the tracking of the system, a robust state feedback plus integral controller is designed. The simulation results show that the proposed controller can effectively stabilize the pendulum at the upright position. Further, the proposed controller can compensate the variations in system parameters. The effectiveness of the proposed controller is verified experimentally using real rotary inverted pendulum.

6 - Design and Performance of Feedback Controllers

The present study is concerned with the methods and means to safely produce relatively small amounts (i.e., up to 50 kg/h) of ammonia. The equilibrium and kinetic study of urea hydrolysis was conducted in a semibatch reactor at atmospheric pressure to investigate the effects of reaction temperature, initial feed concentration, and time on ammonia production. This study reveals that conversion increases exponentially with increasing temperature but decreases slightly with increasing initial feed concentration of urea. Furthermore, the effect of time on conversion was also studied; it was found that conversion increases with increasing time. Using collision theory, the temperature dependency of the forward rate constant was determined, from which the activation energy of the reaction and the frequency factor were calculated. The activation energy and frequency factor of the urea hydrolysis reaction at atmospheric pressure were found to be 60.93 kJ/mol and 4.259 × 105 min−1, respectively.

Ammonia has long been known to be useful in the treatment of flue/tail/stack gases from industrial furnaces, incinerators, and electric power generation industries. In this study, urea hydrolysis for production of ammonia, in different application areas that require safe use of ammonia at in situ condition, was investigated in a batch reactor. The equilibrium and kinetic study of urea hydrolysis was done in a batch reactor at reaction pressure to investigate the effect of reaction temperature, initial feed concentration, and time on ammonia production. This study reveals that conversion increases exponentially with an increase in temperature but with increases in initial feed concentration of urea the conversion decreases marginally. Further, the effect of time on conversion has also been studied; it was found that conversion increases with increase in time. Using collision theory, the temperature dependency of forward rate constant developed from which activation energy of the reaction and the frequency factor has been calculated. The activation energy and frequency factor of urea hydrolysis reaction at atmospheric pressure was found to be 73.6 kJ/mol and 2.89 × 107 min−1, respectively.

Thermal studies on organomercury(II) complexes of isoniazid