Almost disturbance decoupling of MIMO nonlinear systems and application to chemical processes

Authors:
Xiaoping Liu;A. Jutan;S. Rohani
Affiliations:
Department of Electrical Engineering, Lakehead University, 955 Oliver Road, Thunder Bay, Ont., Canada P7B 5E1;Department of Chemical and Biochemical Engineering, the University of Western Ontario, London, Ont., Canada N6A 5B9;Department of Chemical and Biochemical Engineering, the University of Western Ontario, London, Ont., Canada N6A 5B9
Venue:
Automatica (Journal of IFAC)
Year:
2004

Citing 4
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Abstract

The problem of almost disturbance decoupling is considered for a class of nonlinear systems with unmeasurable time-varying disturbances. A structure, called nested lower triangular form, is introduced, which contains lower triangular form as a special case. The backstepping design technique is applied to construct an H"~ feedback controller which achieves internal stability of the closed-loop system and renders a bounded L"2 gain from the disturbance input to the output. The application of the developed design method is illustrated through a two continuous stirred tank reactor example, which can be put into the nested lower triangular form.