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ChemicalEngineeringScience63(2008)395–403www.elsevier.com/locate/cesTwoobserver-basednonlinearcontrolapproachesfortemperaturecontrolofaclassofcontinuousstirredtankreactorsShahinSalehiaMohammadShahrokhib∗aDepartmentofMeasurementandAutomationPetroleumUniversityofTechnologyTehranIranbDepartmentofChemicalandPetroleumEngineeringSharifUniversityofTechnologyP.O.Box11365-9465AzadiAv.TehranIranReceived8March2007;receivedinrevisedform2September2007;accepted17September2007Availableonline29September2007AbstractInthispapertwononlinearobserverbasedcontrollersfortemperaturecontrolofacontinuousstirredtankreactorinwhichaspecialclassofparallelexothermicreactionstakeplaceareproposed.Areducedordernonlinearobserverisconstructedtoestimatetheconcentrationinthereactor.Theobserveriscoupledwithtwononlinearcontrollersdesignedbasedontwowell-knowntechniquesnamelyinput–outputlinearizationandbacksteppingforcontrollingthereactortemperature.Fordampeningtheeffectofobservererrordynamicsacompensatingtermisusedineachcontrollaw.Theasymptoticalstabilityoftheclosed-loopsystemisshownbytheLyapunov’sstabilitytheorem.Theeffectivenessoftheproposedcontrollershasbeendemonstratedthroughcomputersimulations.᭧2007ElsevierLtd.Allrightsreserved.Keywords:Chemicalreactor;Nonlineardynamics;Processcontrol;Stability;Backstepping;Feedbacklinearization1.Introductioncontrollercoupledwithanonlinearobserver(usedforestimat-ingconcentration)hasbeendesignedforcontrol