Nonlinear Control of an unstable CSTR with an Actuator Delay

The design of a model reference nonlinear controller (MRNC) is presented for a nonlinear system with an actuator delay. The controller, on application to an unstable CSTR, gives a good performance. The performance of the delay compensated MRNC is compared with that of delay uncompensated MRNC. The delay uncompensated MRNC gives a highly oscillatory response.