ARTICLE IN PRESS

Control Engineering Practice 16 (2008) 1101–1108

www.elsevier.com/locate/conengprac

Adaptive fuzzy approach for HN temperature tracking control of

continuous stirred tank reactors
Shahin Salehia, Mohammad Shahrokhib,
a
Department of Measurement and Automation, Petroleum University of Technology, Tehran, Iran
b
Department of Chemical and Petroleum Engineering, Sharif University of Technology, P.O. Box 11365-9465 Azadi Avenue, Tehran, Iran
Received 24 June 2007; accepted 22 December 2007
Available online 15 February 2008

Abstract

In this paper, an adaptive fuzzy temperature controller is proposed for a class of continuous stirred tank reactors (CSTRs) based on
input–output feedback linearization. Since for control implementation concentrations of all species are needed, based on the
observability concept, a fuzzy logic system is used to estimate the concentration dependent terms and other unknown system parameters
in the control law, using temperature measurements. It has been shown that the HN tracking control performance with a prescribed
attenuation level is achieved, by using the proposed controller. Finally the effectiveness of the proposed controller has been demonstrated
by applying it to a benchmark chemical reactor through computer simulation.
r 2008 Elsevier Ltd. All rights reserved.

Keywords: Feedback linearization; HN performance; Adaptive control; Fuzzy logic systems; Chemical reactors

1. Introduction scheme, have been also used for temperature control of

Temperature control of chemical reactors is an impor-
tant objective for achieving higher product qualities.
Complex static and dynamic behaviors, system nonlinear-
ity, unavailability of states, multiplicity and instability of
equilibrium points and input constraint have made it a
challenging problem.
Numerous temperature controllers for continuous stir-
red tank reactors (CSTRs), based on conventional PID
structure and state feedback control technique, have been
proposed (Brown, Gonyie, Schwber, & James, 1998; Lee,
Coronella, Bhadkamkar, & Seader, 1993; Ratto, 1998).
Stabilization of chemical reactors by output feedback with
PI controllers has been reviewed in a Ph.D. thesis (Jadot,
1996). Global stability of a reactor with an exothermic
reaction using state feedback was proved by Adebekun and
Schork (1991) and the same problem, using a state
observer, has been considered by Adebekun (1992) and
Kosanovich, Piovoso, Rokhlenko, and Guez (1995).
Advanced control strategies, like predictive control
Corresponding author. Tel.: +98 21 66165419; fax: +98 21 66072679.
E-mail address: shahrokhi@sharif.edu (M. Shahrokhi).
CSTRs (Santos, Afonso, Castro, Oliveira, & Biegler, 2001;
Sistu & Bequette, 1992; Yu & Gomm, 2003). For instance,
some comparisons among these techniques have been made
(Sistu & Bequette, 1992). In addition, backstepping and
feedback linearization methodologies are applied either in
non-adaptive or adaptive forms (Gopaluni, Mizumoto, &
Shah, 2003; Haugwitz, Hagander, & Norén, 2007; Lim-
queco & Kantor, 1990; Salehi, Shahrokhi, & Salahshoor,
2006; Wu, 1999; Zhang & Guay, 2001).
On the other hand, since fuzzy logic systems are used as
universal approximators with arbitrary accuracy for any
real continuous function on a compact set (Wang &
Mendel, 1992), it has attracted great interests in utilizing
heuristic-based approaches to cope with the control
problem of nonlinear and ill-conditioned systems (Wang,
1993, 1994, 1996). Experimental evaluation of fuzzy logic-
based controllers for controlling chemical processes has
been investigated by Fileti, Antunes, Silva, Silveira, and
Pereira (2007). A novel nonlinear adaptive controller based
on fuzzy logic systems and Fourier Integral has been
proposed for temperature control of a CSTR (Huaguang &
Cai, 2002). Most of advanced temperature controllers
proposed for CSTRs require concentration measurements

0967-0661/$ - see front matter r 2008 Elsevier Ltd. All rights reserved.
doi:10.1016/j.conengprac.2007.12.005
 ARTICLE IN PRESS
1102 S. Salehi, M. Shahrokhi / Control Engineering Practice 16 (2008) 1101–1108

for implementation which are not available in practice.

Therefore, designing a model-based controller which does
not require composition measurements is highly motivated.
The main objective of this paper is to modify our
previous control scheme (Salehi et al., 2006) to achieve the
HN temperature tracking performance. In that work,
temperature control of a CSTR in which a single reaction
takes place is discussed. In the present work, a general class
of CSTRs in which multiple reactions are taking place is
considered. By modifying the adaptive law, the fuzzy
minimum approximation error has become independent of
control action which results in achieving the HN tempera-
ture tracking performance. By taking advantage of the
observability concept, a fuzzy controller is designed such
that no composition measurement is required. In addition,
stability of the closed loop system has been established and
boundedness of the internal dynamics has been discussed.
The paper is organized as follows. In Section 2,
mathematical model of CSTRs is presented. In Section 3,
an adaptive fuzzy nonlinear controller is designed by
input–output feedback linearization to achieve the HN Fig. 1. Schematic diagram of the process.
temperature tracking performance. In Section 4, the
effectiveness of the proposed controller has been demon-
strated by applying it to a benchmark chemical reactor and It is assumed that ~ x1 vector (concentrations of all
a comparison between the proposed controller and a PID species) is unavailable, x2 and x3 are measured, and Kst, ~
j,
whose parameters are tuned by Ziegler–Nicholes technique ~ gr and gj are not known. Also, the volumes of reactor
DH,
is made. Finally, conclusion is drawn in Section 5. and jacket, Vr and Vj, are assumed to be constant. The
system equations can be written as
(
2. Mathematical model of CSTRs x_ ¼ f~ð~
~ xÞ þ ~
gð~
xÞu;
(4)
y ¼ hð~ xÞ;
In this section, a model for a general class of CSTRs is
presented. It is assumed that a set of M reactions with N where ~ xT1 x2 x3 T 2 <n , u ¼ F j , hð~
x ¼ ½~ xÞ ¼ x2 ,
2 3
components are taking place in the reactor. The dynamical f1
model of the CSTR is obtained from mass and energy 6 7
xÞ ¼ 6
f~ð~ f 7
4 25
balances and can be written in the following matrix form
(Alvarez-Ramirez, 1995): f3
2 3
x1;in  ~
F r ð~ x1 Þ=V r þ K st ~ x1 ; x2 Þ
jð~
x_ 1 ¼ F r ð~
~ x1;in  ~
x1 Þ=V r þ K st ~ x1 ; x2 Þ,
jð~ (1) 6 7
¼6 ~ x1 ; x2 Þ~
F ðx  x2 Þ=V r  DHð~ x1 ; x2 Þ þ gr ðx3  x2 Þ 7,
jð~
4 r 2;in 5
~ x1 ; x2 Þ~
x_ 2 ¼ F r ðx2;in  x2 Þ=V r  DHð~ x1 ; x2 Þ
jð~ gj ðx2  x3 Þ
þ gr ðx3  x2 Þ, (2) 2 3
0
6 0 7
x_ 3 ¼ gj ðx2  x3 Þ þ F j ðx3;in  x3 Þ=V j , (3) ~
gð~
xÞ ¼ 4 5.
ðx3;in  x3 Þ=V j
where ~ x1 2 <N are chemical species concentrations in
x1;in ; ~
the feed and reactor, and x2;in ; x2 2 < are feed and reactor
temperatures, respectively. x3 ; x3;in 2 < are jacket and its 3. Adaptive fuzzy controller design
inlet temperatures. ~ jð~x1 ; x2 Þ 2 <M is the reaction rate
NM
vector, K st 2 < is the stoichiometric coefficient matrix, In this section, a nonlinear adaptive fuzzy controller,
DH~ 2 <1M is heat of reactions vector. F r ; F j 2 < are feed based on input–output linearization, has been designed for
and jacket flow rates and the latter is considered as the a class of CSTRs whose dynamic models are given by
manipulated variable. gr ; gj 2 < are parameters related to Eq. (4). The basic controller structure is proposed by
physical properties of fluids in the reactor and jacket and Chang (2001) and Chen, Lee, and Chang (1996). In these
also heat transfer coefficient. V r ; V j 2 < are the reactor papers, two adaptive fuzzy controllers, using linguist rules,
and jacket volumes, respectively. The schematic diagram of for a class of nonlinear system have been introduced. Using
the process is shown in Fig. 1. their strategy and input–output linearization technique, a
 ARTICLE IN PRESS
S. Salehi, M. Shahrokhi / Control Engineering Practice 16 (2008) 1101–1108 1103

modified adaptive controller has been proposed for the approximator. First, fuzzy logic systems are universal
temperature tracking of CSTRs given by Eq. (4). approximators with arbitrary accuracy for any given
In the first step of design, the system of Eq. (4) is continuous function (Wang & Mendel, 1992). Second,
transformed into the normal form (Isidori, 1995; Khalil, fuzzy logic systems are constructed from fuzzy IF-THEN
1996; Slotine & Li, 1991). Under this transformation, rules using some specific fuzzy inference, fuzzification, and
Eq. (4) can be written as defuzzification strategies, hence, linguistic information
8 from human experts (in the form of the fuzzy IF-THEN
~_
>
>
> c¼~ qð~c; ~xÞ; rules) can be directly incorporated into the approximator
>
< x_ ¼ x ;
1 2 design.
(5) xÞ is a function of available (temperature measure-
að~
>
> _
x2 ¼ að~ xÞ þ bð~
xÞu;
>
> ments) and unavailable states (concentrations). It is
:
y ¼ x1 ;
assumed that the system is observable through reactor
where ~ x ¼ ðx1 ; x2 Þ 2 <2 is the external state vector, ~
c2 temperature measurements. By taking into account the
< n2
is the internal state vector, a and b are given by observability concept, it can be concluded that the species
following equations: concentrations, ~ x1 , can be estimated from the system
output (x2). Consequently, að~xÞ can be approximated using
xÞ ¼ L2f~hð~
að~ ~ jÞ=q~
xÞ ¼ ðf 1 þ f 2 ÞqðDH~ x1 temperature measurements (x2, x3). If estimate of að~ xÞ is
 ðF r =V r þ gr Þf 2 þ gr f 3 , denoted by a^ , then the estimator can be constructed as
T
xÞ ¼ L~g Lf~hð~
bð~ xÞ ¼ gr ðx3;in  x3 Þ=V j . a^ ðx2 ; x3 Þ ¼ ~
ya ~
Bðx2 ; x3 Þ, (10)
T T
As can be seen, the relative degree of the system is two. where ~
ya ¼ ð~
y1;a ; . . . ; ~
ym;a ÞT is a fuzzy parameter vector, and
Defining e ¼ yyr and ~ e ¼ ðe1 ; e2 ÞT ¼ ðe; e_ÞT , where yr is ~ BT1 ðx2 ; x3 Þ; . . . ;~
Bðx2 ; x3 Þ ¼ ð~ BTm ðx2 ; x3 ÞÞT is the fuzzy regres-
the desired output, the tracking error dynamic can be sive vector with the regressor ~ Bi ðx2 ; x3 Þ and m is the number
expressed as of fuzzy rule bases (Chen et al., 1996; Wang, 1997).
However, if a fuzzy approximator is used for estimating
e_ ¼ Ao~
~ ~ xÞ þ bð~
e þ bðað~ xÞu  y€ r Þ, (6)
xÞ, then the minimum approximation error depends on
bð~
where control input and therefore, the HN tracking performance
    cannot be achieved (Basar & Berhard, 1990; Doyle, Glover,
0 1 0
Ao ¼ ; b~ ¼ . Khargonekar, & Francis, 1989; Francis, 1987; Kang, Lee,
0 0 1
& Park, 1998; Stoorvogel, 1992; Van der Schaft, 1992). To
Choosing matrix K~ ¼ ðk2 ; k1 Þ 2 <12 such that A  Ao  solve this problem, bð~ xÞ is approximated differently.
~~
bK is Hurwitz, Eq. (6) becomes: Considering the functionality of bðx3 Þ ¼ gr ðx3;in  x3 Þ=V j ,
the following approximator is chosen:
e_ ¼ A~
~ e_ þ bð
~ K~
~e þ að~ xÞu  y€ r Þ.
xÞ þ bð~ (7)
^ 3 Þ ¼ y1;b þ y2;b x3 .
bðx (11)
If the system mathematical model is exactly known and
there is no model uncertainty, by applying the following By selecting the above approximator, the minimum
nonlinear control law: approximation error does not depend on the control input
~e  að~ which will be shown later.
u ¼ ðy€ r  K~ xÞÞ=bð~
xÞ, (8)
By substituting estimates of a and b in Eq. (8) and
the error dynamic becomes adding additional term v, the following control law is
obtained:
e_ ¼ A~
~ e. (9)
u ¼ ðy€ r  K~ ^ 3 Þ,
~e  a^ ðx2 ; x3 Þ þ vÞ=bðx (12)
This error dynamic equation is asymptotical stable because
A is Hurwitz. It should be noted that for implementation of where v, to be defined later, is considered to achieve the
control law (8), concentrations of all species in the reactor HN tracking performance. By substituting Eq. (12) into
and system parameters are needed. But in practice, Eq. (7), the following closed loop error dynamic is
concentrations are not measured because composition- obtained:
measuring devices are expensive and include lag. Usually,
exact kinetic model is not available and there are e_ ¼ A~
~ ~ xÞ  a^ ðx2 ; x3 Þ þ ðbðx3 Þ  bðx
e þ bðað~ ^ 3 ÞÞu þ vÞ. (13)
uncertainties in the system parameters. To make the 
Let us define the optimal parameter estimates ~ ya as
problem more realistic, it is assumed that all of the required " #
data such as Kst, ~ ~ gr and gj are not available.
j, DH, 
~
y ¼ arg min sup k^aðx2 ; x3 Þ  að~ xÞk , (14)
One way to solve the above problem is to estimate að~ xÞ a
~ ~
x2Ox
ya 2Oa
and bð~xÞ by appropriate estimators. In this work, a fuzzy
approximator is used to estimate að~ xÞ. There are two main where Oa and Ox denote a set of suitable bounds on ~
ya and
reasons for using the fuzzy logic as basic building blocks of ~
x. By using Eq. (14), the minimum approximation error is
 ARTICLE IN PRESS
1104 S. Salehi, M. Shahrokhi / Control Engineering Practice 16 (2008) 1101–1108

defined as 4. Simulation

w ¼ að~
xÞ  a^ ðx2 ; x3 j~
ya Þ. (15) The process considered for simulation is the one used by
As can be observed, w does not depend on the control other researchers (Chen, Kremling, & Allgöwer, 1995;
input. Using the above equation in Eq. (13), the closed loop Gopaluni et al., 2003; Klatt & Engell, 1998). It involves
error dynamic can be rewritten as production of cyclopentenol (B) from cyclopentadiene (A)
by acid-catalyzed electrophilic addition of water in dilute

e_ ¼ A~
~ ~ aðx2 ; x3 j~
e þ bð^ ya Þ  a^ ðx2 ; x3 j~
ya Þ solution. Because of the strong reactivity of the reactant A
^ 3 ÞÞu þ v þ wÞ. and product, dicyclopentadiene (V) is produced by
þ ðbðx3 Þ  bðx (16)
Diels–Alder reaction as a side product, and cyclopentane-

Defining ~ yb ¼ ½y1;b ; y2;b T , ~
¼ ½gr x3;in ; 1T =V j and using
yb diol (C) is generated as a consecutive product through the
Eqs. (10) and (11), Eq. (16) becomes addition of another water molecule. The complete reaction
T
scheme is
~~ ~T
e_ ¼ A~
~ e þ bð y~ a ~
Bðx2 ; x3 Þ þ y~ b ~
Zðx3 Þu þ v þ wÞ, (17)
H2 O=Hþ H2 O=Hþ
~  ~  C5 H6 ! C5 H7 OH ! C5 H8 ðOHÞ2 ;
where y~ a ¼ ~ya  ~ ya , y~ b ¼ ~yb  ~yb and ~ Zðx3 Þ ¼ ½1; x3 T .

Theorem. Consider the control law (12) with 2C5 H6 !C10 H12 :
1 T
v ¼  b~ P~
e, (18) The reactor inflow contains only the reactant A. Constant
q
density and an ideal residence time distribution within the
_ T reactor are assumed. The dynamics of the reactor can be
~
ya ¼ ga b~ P~
e~
Bðx2 ; x3 Þ, (19) descried by the set of Eqs. (1)–(3). x11 and x12 represent
components of A and B, respectively, their corresponding
_
~ T
vector is ~ xT1 ¼ ½x11 x12 , and the inlet vector is
yb ¼ gb b~ P~
e~
Zðx3 Þu, (20) T
~
x1;in ¼ ½x11;in x12;in . For this system Kst, ~ ~ are as
j and DH
where ga, gb and q are positive constants and P ¼ PT40 is follows:
the solution of the following Riccati equation:  
1 0 1
2 T 1 T K st ¼ ,
PA þ AT P þ Q  Pb~b~ P þ 2 Pb~b~ P ¼ 0, (21) 1 1 0
q r
where Q ¼ QT40. 2 3
If w 2 L2 , then the HN tracking performance is achieved k10 x11 eE 1 =x2
6 7
with a prescribed attenuation level r for the closed loop error ~ x1 ; x2 Þ ¼ 4 k20 x12 eE 2 =x2 5,
jð~
dynamic given by Eq. (17). k30 x211 eE 3 =x2
Proof is given in Appendix A.
~¼ 1
Remark 1. The Riccati equation (Eq. (21)) has a positive DH ½DH AB BC
R DH R DH AD
R ,
rp cp
semi-definite solution if and only if 2r2 Xq (Chen et al.,
1996). where ki0’s are reaction constant rates, Ei’s are activation
energies, rp and cp are density and heat capacity of the
Remark 2. In order to constraint ~ ya ; ~
yb to some predefined
reactor content. Values for the physical and kinetic
sets ðOa ; Ob Þ, the projection algorithm can be used to
parameters are given in Table 1. By constructing the
modify adaptation laws (19) and (20) (Goodwin & Mayne,
observability matrix, it can be shown that the system is
1987; Luenberger, 1984; Narendra & Annaswamy, 1989).
observable if the reactor temperature is measured. k1 and
It should be noted that as r decreases, q is decreased k2 are set to 50 and 120, respectively. By choosing Q ¼ I,
resulting in a higher control action. On the other hand, in 2r2 ¼ q and solving the Riccati equation (Eq. (21)), P is
all physical applications, actuators are constrained and obtained as
therefore the attenuation level is limited in practice.  
0:2184 0:5
Finally in order to complete the stability analysis of the P¼ .
closed loop system under control law of Eq. (12), the 0:5 1:21
stability of internal states, ~ c, must be checked. For CSTRs
The fuzzy rule bases of Eq. (10) are designed as follows:
it has been shown that all concentration trajectories
~
x1 ðt; ~ x1;o 2 <nþ of the system of Eq. (4) are bounded
x1;o Þ, ~
(Alvarez-Ramirez, 1995). As a result, the internal dynamic Rði;jÞ : if x2 is F j2 and x3 is F i3 then a^ is yi;j
are bounded and therefore the stability proof is completed. for 1pip10 1pjp4.
 ARTICLE IN PRESS
S. Salehi, M. Shahrokhi / Control Engineering Practice 16 (2008) 1101–1108 1105

Table 1 Ziegler–Nicholes technique, controller parameters are

Reactor parameters determined (kc ¼ 1:5, tI ¼ 18 and tD ¼ 4:5).
Symbol Value
In the simulation, first performance of the proposed
controller for temperature transition from 408 to 407.14 K
k10 3.575  108/s is examined. Fig. 2 depicts the reactor temperature and the
k20 3.575  108/s corresponding control action for r ¼ 0.05 and 0.5. The
k30 1.256  106 mol/s
result for the PID controller is also shown in Fig. 2.
E1 9758.3 K
E2 9758.3 K The integral squares of error for the above values of r and
E3 8560 K the PID controller are tabulated in Table 2. As can be seen,
DH ABR
4.20 kJ/mol by decreasing the attenuation level, the integral squares
DH BCR
11.0 kJ/mol of error is decreased which indicates that HN tracking
DH ADR
41.85 kJ/mol performance has been achieved for the proposed controller.
rp 0.9342 kg/l Moreover, from Fig. 2 and Table 2, it is found that by
cP 3.01 kJ/(kg K)
Vr 10 l
decreasing the attenuation level, a better performance can
Vj 5l be achieved compared to the PID controller.
Fr 0.0522 l/s In the next simulation, temperature tracking is tested
x11,in 5.01 mol/l and the desired trajectory is assumed to vary as
x12,in 0 yr ¼ 407:17 þ 5 sinðt=500Þ. The closed loop responses and
x2,in 403 K
x3,in 363 K
the corresponding control actions for the proposed and
gr 85.6347  104/s PID controllers are shown in Fig. 3. Their corresponding
gj 2.408  102/s integral squares of error are given in Table 2. Again, it is
observed that a better performance, compared to PID

The following memberships have been selected:

8
< 1=ð1 þ expð0:4  ðx  350ÞÞÞ;
> i ¼ 1;
2
mF i2 ðxÞ ¼ expððx  ð10  ði  1Þ þ 350ÞÞ =50Þ; 2pip9;
>
: 1=ð1 þ expð0:4  ðx  440ÞÞÞ; i ¼ 10;

8
> 1=ð1 þ expð0:16  ðx  350ÞÞÞ; i ¼ 1;
<
2
mF i3 ðxÞ ¼ expððx  ð25  ði  1Þ þ 350ÞÞ =50Þ; 2pip3;
>
: 1=ð1 þ expð0:16  ðx  440ÞÞÞ; i ¼ 4:

Using the above memberships and the fuzzy rule bases, the
fuzzy approximator of Eq. (10) is constructed and can be
written as
P10 Q4
i¼1 j yi;j mF i2 ðx2 ÞmF j3 ðx3 Þ
a^ ðx2 ; x3 Þ ¼ P10 Q4 ,
i¼1 j mF i2 ðx2 ÞmF j ðx3 Þ 3

~
ya and ~
B are
~
ya ¼ ðy1;1 ; . . . ; y1;4 ; y2;1 ; . . . ; y2;4 ; . . . ; y10;4 ÞT ,
Fig. 2. (a) Reactor temperature transient responses from an initial
T condition to the desired value: r ¼ 0.05 (solid line), r ¼ 0.5 (dashed line),
~
Bðx2 ; x3 Þ ¼ ðB1;1 ; . . . ; B1;4 ; B2;1 ; . . . ; B2;4 ; . . . ; B10;4 Þ PID (dotted line), set-point (dash-dot line) and (b) corresponding control
where actions.

mF i ðx2 ÞmF j ðx3 Þ

Bi;j ðx2 ; x3 Þ ¼ P10 Q2 4 3
.
m i ðx2 Þm j ðx3 Þ Table 2
i¼1 j F 2 F 3 Integral squares of error for different cases
The initial conditions for the CSTR are selected to
Case r ¼ 0.05 r ¼ 0.5 PID
be ~ xT1 ð0Þ ¼ ½2 0:5, x2 ð0Þ ¼ 408, x3 ð0Þ ¼ 393 and the
manipulated variable is subject to the following con- Initial temperature 14 1100 258
straints: 0pup0:5 l=s. To compare the performance of transient response in
regulation
the proposed controller with a PID controller, system
Temperature tracking 33 1960 465
has been modeled by a linear dynamic and using the
 ARTICLE IN PRESS
1106 S. Salehi, M. Shahrokhi / Control Engineering Practice 16 (2008) 1101–1108
Fig. 3. (a) Reactor temperature tracking responses: r ¼ 0.05 (solid line),
r ¼ 0.5 (dashed line), PID (dotted line), set-point (dash-dot line) and
(b) corresponding control actions.
Fig. 4. Reactor temperature transient response for 5% increase in the feed
temperature applied at t ¼ 50 s: r ¼ 0.05 (solid line), set-point (dash-dot
line) and (b) corresponding control action.
controller, is achieved for the proposed controller by
decreasing the tuning parameter r.
To demonstrate the performance of the proposed
controller for load rejection, the feed specifications
are changed and the closed loop responses are shown in
Figs. 4–6 for r=0.05. The results indicate that the
proposed controller has a good load rejection performance.
Finally, to show the effectiveness of the proposed
controller against model uncertainties, 15% decrease in
Fig. 5. Reactor temperature transient response for 50% increase in the
feed concentration applied at t ¼ 50 s: r ¼ 0.05 (solid line), set-point
(dash-dot line) and (b) corresponding control action.
Fig. 6. Reactor temperature transient response for 15% increase in the
feed flow rate applied at t ¼ 50 s: r ¼ 0.05 (solid line), set-point (dash-dot
line) and (b) corresponding control action.
heat transfer coefficient and reaction rate constants are
applied to the system at t=50 s for r=0.05 and the
results are illustrated in Figs. 7 and 8, respectively. As can
be seen the controller is robust against model uncertainties
as well.
5. Conclusion
In this work, an adaptive controller is proposed for
temperature control of a class of CSTRs by means of
input–output feedback linearization technique. Since all
 ARTICLE IN PRESS
S. Salehi, M. Shahrokhi / Control Engineering Practice 16 (2008) 1101–1108 1107

has a better performance compared to a PID controller

tuned by Ziegler–Nicholes technique.

Appendix A. Proof of Theorem

Consider the following Lyapunov function:

1 T 1 ~ T 1 ~ T
~ ~
V¼ ~e P~
eþ y~ a y~ a þ y~ b y~ b . (A.1)
2 2ga 2gb
The time derivative of V is
1 _T 1 T _ 1 ~_~ T~~ 1 ~_ T~
V_ ¼ ~ eþ ~
e P~ e þ ya ya þ y~ b y~ b .
e P~ (A.2)
2 2 ga gb
Using Eq. (17) in Eq. (A.2) yields
1 T T ~T ~T ~T ~T T
V_ ¼ ½~
e A P~e þ y~ a ~
Bb P~e þ y~ b ~
Zb P~ eu þ vb~ P~ e
2
T
þ wb~ P~
e þ~eT PA~ e þ~ ~BT~
eT Pb~ y~ a þ ~ ~ZT~
eT Pb~ y~ b u
_ T~ _ T~
Fig. 7. Reactor temperature transient response for 15% decrease in the ~ þ~
eT Pbv
þ~ ~ þ 1~
eT Pbw
1~
y~ a y~ a þ y~ b y~ b . (A.3)
heat transfer coefficient applied at t ¼ 50 s: r ¼ 0.05 (solid line), set-point ga gb
(dash-dot line) (b) corresponding control action.
Using Eq. (18) and rearranging Eq. (A.3) yields
1 T 2 T
V_ ¼ ~e ðPA þ AT P  Pb~b~ PÞ~ e
2 q
1 _T ~
þ ðga~ ~BT þ ~
eT Pb~ y~ a Þy~ a
ga
1 _T ~
þ ðgb~ ~ZT u þ ~
eT Pb~
T
y~ b Þy~ b þ wb~ P~
e. (A.4)
gb
Using the adaptive laws (19) and (20) and Eq. (21), V_ can
be rewritten as
1 T 1 T ~~T T
V_ ¼  ~ e Q~e  2~ e Pbb P~ e þ wb~ P~
e
2 2r
 2
1 T 1 1 ~T
¼  ~ e Q~e b P~e  rw
2 2 r
1 2 2 1 T 1
þ r w p ~ e þ r2 w2 .
e Q~ (A.5)
2 2 2
Integrating the inequality (A.5) yields
Z Z
Fig. 8. Reactor temperature transient response for 15% decrease in the
1 T T 1 2 T 2
~e Q~e dtpV ð0Þ  V ðTÞ þ r w dt. (A.6)
reaction rate constants applied at t ¼ 50 s: r ¼ 0.05 (solid line), set-point 2 0 2 0
(dash-dot line) and (b) corresponding control action.
Since V ðTÞX0, as T ! 1, it results in
Z Z
1 T T 1 2 T 2
~e Q~e dtpV ð0Þ þ r w dt, (A.7)
states are required for control implementation and it is 2 0 2 0
assumed that concentrations are not available, a fuzzy i.e. the HN tracking performance is achieved for the closed
estimator is designed to estimate concentration dependant loop error dynamic (17) (Basar & Berhard, 1990; Doyle
term in control law using temperature measurements. The et al., 1989; Francis, 1987; Stoorvogel, 1992; Van der
overall stability of the closed loop is established using the Schaft, 1992).
Lyapunov stability theorem. It has been shown that by
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