Tracking controller design for a nonlinear CSTR using exact linearization

Tracking control of a nonlinear continuous stirred tank reactor (CSTR) in the presence of large load changes is considered. The authors derive a linearized model of a given nonlinear CSTR with time delay by extending the exact linearization method. By discretizing the linearized model, they apply the LQI technique to develop a digital tracking control law consisting of state feedback plus integral action. The desired tracking controller is obtained by a nonlinear transformation of the control law and an observer based on the linearized model. Simulation studies show the effectiveness of the design method of a digital tracking controller for a nonlinear CSTR with time delay