Nonlinear feedback control of stable processes

Nonlinear control laws are presented for input-constrained, multiple-input, multiple-output processes, whether their delay-free part is minimum- or non-minimum-phase. This study addresses the nonlinear control of the input-constrained processes by exploiting the connections between model-predictive control and input-output linearization. The continuous-time control laws are constrained optimization problems that are solved online. They minimize the error between controlled outputs and their reference trajectories. Their application and performance are illustrated using a chemical reactor example that exhibits nonminimum-phase behavior