Measurement-feedback for a class of nonlinear processes

For multi-input multi-output nonlinear plants whose state-feedback problem is solvable by complete feedback linearization, the problem of measurement-feedback control is addressed by using an observer-controller combination whose design is based on linear single-input single-output techniques. First, a candidate observer is built. Then, the process-controller dynamics is studied, yielding a sufficient condition for closed-loop stability. Results are illustrated with a polymerization reactor example