Almost disturbance decoupling of MIMO nonlinear systems and application to chemical processes |
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Authors: | Xiaoping Liu [Author Vitae] A Jutan [Author Vitae] [Author Vitae] |
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Affiliation: | a Department of Electrical Engineering, Lakehead University, 955 Oliver Road, Thunder Bay, Ont., Canada P7B 5E1 b Department of Chemical and Biochemical Engineering, the University of Western Ontario, London, Ont., Canada N6A 5B9 |
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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 L2 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. |
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Keywords: | Nonlinear systems Nonlinear control Disturbance rejection State feedback Stabilization |
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