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www.se ipub.org/acer Advance d Chemical Enginee ring Research (ACER) Volume 2 Issue 1, March 2013
offers great flexibility to operate chemical systems complex nature of nonlinear dynamical systems
because there are an infinite number of unstable severely limits the use of conventional linear
periodic orbits (UPO) embedded in a chaotic attractor, controllers to provide the desired operating
in which one can choose a specific UPO along with its performance. In advanced control approach; different
time averaged pre-specified performance defined in nonlinear model predictive controllers have been
terms of conversion, yield or selectivity and the reported to stabilize the oscillatory and chaotic
process can be stabilized to operate it on the chosen dynamics in continuous chemical and polymerization
UPO. Various conventional and advanced techniques reactors [Lima, 1996, Qammaret al., 1996].
have been reported for the control of open-loop
Nonlinear control is a class of advanced control in
unstable chemical and polymerization reactors and the
which the nonlinear process model serves as the basis
reactors that show oscillatory and chaotic dynamics.
for controller design. This type of control is expected
As far as unstable reactors are concerned, Choi and
to provide improved control performance since the
Ray [1988] and Chan et al. [1993] have employed
control structure preserves the nonlinearities of the
standard PID controllers to stabilize open-loop
real process in the form of its mathematical model. The
unstable steady state conditions of an olefin generic model control (GMC) introduced by Lee and
polymerization reactor, however, Takamatsu et al.
Sullivan [1988], the globally linearizing control (GLC)
[1986] and Kwag and Choi [1994] showed that such proposed by Kravaris and Chung [1987] and the
controllers may also pose serious control problems if nonlinear internal model control (NIMC) proposed by
the polymerization reactor presents significant Henson and Seborg [1991] are the prominent nonlinear
nonlinear behaviour. Dittamar et al. [1991] reported model based controllers. The GMC allows the
that linear predictive controllers might lead to proper implementation of the nonlinear process model
control of open-loop unstable polymerization reactor. directly into the controller structure. The GLC is a
Various nonlinear model predictive control strategies model based controller that transforms a nonlinear
have been successfully applied to the control of open- input/output system into a linear input/output system
loop unstable CSTR systems [Hidalgo and Brosilow, through a nonlinear transformation. The NIMC
1990, Hapolu, 2002, Venkateswarlu and Venkat Rao, proposed by Henson and Seborg is different from the
2005]. Nonlinear processes characterized with chaotic GMC of Lee and Sullivan [1988] and the GLC of
dynamic behaviour can be controlled either by Kravaris and Chung [1987] in that it includes implicit
stabilizing the UPOs in the neighbourhood of the integral action in the control structure by using the
desired UPO or stabilizing the dynamic trajectory of difference between the process output and model
the system exactly at the unstable steady state. Various output as a feedback signal. A nonlinear filter is
controllers based on ad-hoc, conventional and employed in NIMC which provides a tuning
advanced approaches have been reported to stabilize parameter that can be adjusted for process/model
the chaotic systems. In the ad-hoc approach, the mismatch. Since reasonably accurate mathematical
properties of chaos are used to develop ad-hoc models have been developed to predict the
methods without considering conventional control complicated dynamics of nonlinear systems, design of
techniques. The most commonly used method is the nonlinear controllers based on these models is a useful
OGY method by which one of the unstable orbits in control alternative for complex dynamical systems.
the chaotic attractor can be stabilized via small time This work is focused towards the model based control
dependent perturbations to a system parameter [Ottet of nonlinear dynamical systems in the frame work of
al., 1990, So and Ott, 1995]. The potential difficulty NIMC approach. The NIMC approach based
associated with the OGY method is the lon g transient controllers have been reported earlier for nonlinear
times before the system enters local region where the systems where the dynamic behaviour is not so
perturbation is effective [Petrovet al., 1994]. In complex [Kurtz and Henson, 1997, Venkateswarlu and
conventional control approach, various methods Gangiah, 1997].
including a proportional-Integral (PI) controller The objective of this paper is to derive a controller
[Pellegrini and Biardi, 1990] and a modified PI/PID based on NIMC approach for complex dynamical
controller [Bandyopadhyay, et al., 1997] have been systems that incorporates the nonlinear model
employed for controlling and operating the chaotic structure and the estimator dynamics in the controller
reactors under favourable conditions. However, the formulation. A model based estimator is designed to
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u= r 1
= p ( x ) + q ( x )v (8 )
Control Algorithm Lg L f h( x )
The general form of a single input single output (SISO)
system with state space description is: Application Processes
x = f ( x) + g ( x)u (1)
Two typical continuous nonlinear dynamical
processes are chosen for the design and
y = h(x) (2) implementation of the estimator based NIMC strategy.
where x is the vector of states, u is the manipulated Chemical reactor
input, y is the measured output, f(x) and g(x) are
vector functions and h(x) is the scalar function. The A non-isothermal, irreversible, first order series
relative order of the system defined by Eqs. (1 ) and (2) reaction ABC in a CSTR with control input and
is expressed by the following relations: load disturbances is described by the following
dimensionless mass and energy balance equations
L g L f h( x) = 0, k < r 1
k
[Kahlertet al., 1981]:
(3)
r 1
Lg L f h( x ) 0 dx1
= 1 x1 Da x1 exp( x 3 1 + A x 3 ) + d1 (9)
(4 )
dt
where r represents the relative order of the system and dx 2
Lf h(x) is the Lie derivative of the scalar function h(x) = x 2 + Da x1 exp( x 3 1 + A x 3 )
dt (10)
with respect to the vector function f(x) with L0f
h(x)=h(x). Similarly higher order Lie derivatives as well Da Sx 2 exp( kx 3 1 + A x 3 ) + d 2
as the Lie derivative of the scalar function h(x) with dx 3
respect to the vector function f(x), and then with = x 3 + B Da x1 exp( x 3 1 + A x 3 )
dt
respect to the vector function g(x) can be defined. The
Da B Sx 2 exp( kx 3 1 + A x 3 ) ( x 3 x 3c ) (11)
relative order defined by Eqs. (3) and (4) represents
the number of times the output y must be + ut + d 3
differentiated with respect to time so that the input u
appears explicitly. The variables x 1 and x 2 denote the dimensionless
concentrations of species A and B respectively, and x 3
A general form of the control law is written as
is the dimensionless temperature. The parameter x 3c
u=p(x) +q(x) v (5) represents the reactor coolant temperature. An
externally manipulated variable ut can be defined to
where v is the new input.
denote a measure of the deviation in the coolant
The NIMC approach includes an implicit integral temperature from the reference value x 3c. The load
action by using the difference between the plant and disturbances in feed compositions are denoted by d1
model outputs as a feedback signal: and d2, and the load disturbance in the reactor
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Da=0.26,S=0.5,A=0,k=1, S table dT f (T f T ) H
II 0.0729 0.1259 3.8902 limit = + vm m k p P
=0.426, =7.7,B=57.77 cyc le
d C p ( MW ) m
(16)
UA(T Tc )
S ame as Set II except + u t
III 0.0819 0.1391 3.7627 Chaotic C p V
=7.9999
In the above equations, q 0 q i is a term that takes into
Homopolymerization reactor account changes in the density of the reactive mixture
and is defined by
Continuous homopolymerization reactors represent
one important class of dynamical systems. The mf vmf sf vsf
homopolymerization reactions are characterized by q0 qi = + + ( MW ) m m Rm m 1
m s
high heat release, high viscosity and poor heat transfer. p (17)
Vinyl acetate homopolymerization has shown dT d (1 s ) d (1 m ) d (1 p )
+ s vs + m vm + pv p
complex dynamic behaviour for certain ranges of d dT dT dT
operating conditions due to the large heat of
polymerization, the gel effect and the large activation UA
and = .
energy of the initiation step. These factors can readily C p V
produce phenomena such as multiple steady states,
steady state instability, limit cycles and chaos. The overall density and specific heat of the mixture are
dv m mf v mf ( MW ) m R m 2 fk d c i
= qo qi vm Rckr = (20)
d m m (13) M
dT d (1 m ) By substituting the value of Rckr from Eq. (20) in Eq.
+ vm m
d dT (18), we have
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The gel effect correlations are The design of NIMC for complex dynamic processes
considered in this work is briefed as follows:
g p =1
1) Chemical Reactor
g t = exp(0.4407 x t 6.753x t2 0.3495 x t3 )
The f(x) and g(x) in Eq. (1) can be written by
In Eq. (23), omitting the load disturbances from the
t and k are the kinetic constants at zero
0 0
k p
dimensionless mass and energy balances in Eqs. (9)
polymer concentration, g t and g p are the gel effect - (11):
TABLE 2 VA HOMOPOLYMERIZATION S YSTEM PARAMETERS x
1 x Dax exp 3
1 1 1+ x
f = 0.8 A 3
x kx
V = 500 (ml) f ( x) = x + Dax exp 3 DaSx exp 3
2 1 1 + x 2 1 + x
UA = 12 (c al/min K) A 3 A 3
x kx
+ 3 BDaSx exp 3 x
H = 21000(c al/gmol) 3 x BDax
1
exp
1 + x 2 1 + x 3
A 3 A 3
Cpm = 0.470 (c al/g K)
(24)
Cps = 0.716 (c al/g K)
0
m (T ) = 958.4 1.3276(T 273) (g/lt)
g (x) = 0 (25)
p (T ) = 1211 0.8496(T - 273) (g/lt)
74120
s (T ) = (g/lt) The controlled output in Eq. (2) is given by
(60.21 + 0.116T )
y = h( x ) = x 3 (26)
C pp = 0.3453 + 9.55 10 4 (T 298) (c al/g K)
From Eqs. (3) and (4 ), the relative order of the
6100
system is evaluated as one. Thus for r =1, the new
k p0 = 82.212 10 8 e RT
(lt/gmol.s) input v in Eq. (7) is obtained as
30800
v = 1 ( x3s x3 ) (27)
k d = 94.8 1015 e RT (lt/gmol.s)
2462
On computing the Lie derivatives and substituting
them along with the new input in Eq. (8) leads to
k = 469.392 10 e
t
0 10 RT (lt/gmol.s)
the following control law
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x3
1 ( x 3s x 3 ) x 3 + BDax1 exp BDaSx 2 exp kx3 x3
1 + x
1 + A x3 A 3 (28)
ut =
where 1 is the NIMC tuning parameter. The f(x) and g(x) in Eq. (1) can be defin ed from the
mass and energy balances of Eqs. (13) - (16):
2) Polymerization reactor
mf vmf q q v ( MW ) R d (1 ) f T f T UA(T T )
o i m m m +v m + H
v k P c
m m m dT C ( MW ) m m p C V
m p m p
v (29)
d (1 ) f
T T UA(T T )
sf sf qo qi vs s f H c
+ v + v k P
f ( x) = s
s s dT C ( MW ) m m p C V
p m p
c
if qo qi c k c
i d i
T T Hv k P
f f + m m p UA (T Tc )
C ( MW ) V C
p m p
0
0
g (x) =
0
(30)
The controlled output in Eq. (2) is obtained as polymer reactor system is of relative order one. The
new input v in Eq. (7) is computed as
y = h( x ) = T (31)
v = 1 (Ts T ) (32)
The conditions in Eqs. (3) and (4) defining the
f (T f T ) Hvm k p m P UA (T Tc )
1 (Ts T ) +
C p ( MW ) m V C p
ut = (33)
Estimator Design 1994, Aguilar-Lpez and Martinez-Guerra, 2005]. In
this work, a nonlinear model based estimator known
The success of estimator based controller for nonlinear
dynamical systems relies on the performance of the as extended Kalman filter (EKF) is designed to obtain
estimator as well as the model of the process that the state estimates from the known temperature
supports the estimator. Since mathematical models measurements of the respective processes. The
with enough details are used to develop the NIMC estimator design for NIMC strategy of this work is
strategy for complex dynamical systems, it is similar to that of the recently reported estimator
advantageous to use the same models in the estimator involved in the GLC control of a chaotic chemical
design in order to obtain fast and accurate estimation reactor [Karri et al., 2009, Karri, 2011]. The general
of unmeasured process states desired by the controller. process representation for model based state
Recently, model based estimators have been estimation is given in Appendix A. Th e EKF
successfully employed for state estimation in various estimation algorithm is given in Appendix B. The
stable systems [Venkateswarlu and Gangiah, 1992, elements of the state transition and measurement
Schuler and Schmidt, 1993, Sargantanis and Karim, matrices involved in the estimator are given in
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FIG. 1. ACTUAL (x , x )
1 2 AND ES TIMATED (x1 , x2 )
PHASE PLANE PLOTS FOR SET III
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trajectory at the unique unstable steady state, which is disturbances. A deterministic disturbance of 1.0 and a
the desired condition. Fig. 4 shows the results of the stochastic load disturbance generated through random
NIMC and PID controller to realize the set condition in Gaussian noise of zero mean and a standard deviation
Table 1 from an arbitrarily selected initial state (x 10 = of 0.25 are considered to represent the d3 in
0.08, x 20 = 0.103, x 30=3.654). For parameters in set III, the temperature measurement. The results of the
system exhibits chaotic behaviour. In this objective, the controllers for stabilizing the system at unstable steady
controller has to stabilize the chaotic trajectory exactly state responsible for chaotic motion with these
at the corresponding unique unstable steady state. To
disturbances conditions are shown in Figs. 6 and 7.
realize this objective, the controllers are also applied
using the same initial condition as in set II to satisfy These results indicate the better performance of the
the desired condition for set III given in Table 1. NIMC strategy in the presence of either type of load
disturbances. The results of the controllers are also
The process output and controller output plots of
evaluated for a series of step changes in the set points
NIMC and modified PID controller corresponding to
of the controlled variables. The results in Fig. 8 show
this objective are shown in Fig. 5. Th ese plots indicate
that the controllers fulfil the desired objectives without the process output and controller output plots of
any offset. The nonlinear controller has shown better NIMC and modified PID controller for parameters in
stabilization over PID controller. The performance of set III for a series of 20% step changes in the set
the controllers is also evaluated by applying them for conditions in Table 1. These results show the better
controlling the system at the desired conditions in the performance of the estimated supported nonlinear
pr es en ce of det er m in is t ic a n d st och a st ic loa d controller.
FIG. 3 PROCESS AND CONTROLLER OUTPUT PLOTS FOR SET I OF (A) NIMC AND (B) PID
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FIG. 4 PROCESS AND CONTROLLER OUTPUT PLOTS FOR SET II OF (A) NIMC AND (B) PID
FIG. 5 PROCESS AND CONTROLLER OUTPUT PLOTS FOR SET III OF (A) NIMC AND (B) PID
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FIG. 6 PROCESS AND CONTROLLER OUTPUT PLOTS OF NIMC AND PID WITH DETERMINISTIC DIS TURBANCE FOR SET III
FIG. 7 PROCESS AND CONTROLLER OUTPUT PLOTS OF NIMC AND PID WITH STOCHASTIC DISTURBANCE FOR SET III
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FIG. 8 PROCESS AND CONTROLLER OUTPUT PLOTS OF NIMC AND PID FOR A SERIES OF STEP CHANGES IN SET POINTS OF THE
CONTROLLED VARIABLES FOR SET III
bifurcation cascade and chaos as shown in Fig. 10(a). A model based estimator, extended Kalman filter (EKF)
The magnification results of Fig. 10(a) are further is employed to estimate the states v m vs ci and T using
explained in Figs. 10(b) and 10(c), which show the the temperature measurement of the reactor. The
sequence of periodic windows of periods 2, 4, 8 and so performance of the estimator is evaluated under
on leading to chaotic region. At = 27.37 min, the different conditions. Fig. 12 compares the actual and
chaotic behaviour with huge temperature oscillations estimated results of VA homopolymerization reactor.
is observed as shown in Fig. 11. The time domain These results confirm the usefulness of the method of
response is shown in Fig. 11(a) and the corresponding EKF as a state estimator for polymerization reactor.
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FIG. 12 ACTUAL AND ESTIMATED PROFILES OF MONOMER VOLUME FRACTION (A) TIME DOMAIN RESPONSE (B) PHASE PLANE
PLOTS
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The NIMC strategy supported by the state estimator is corresponding these conditions are shown in Figs. 13(a)
applied with the objectives of controlling the and 13(b), respectively. In the same case, at t = 400 min,
homopolymerization reactor under different the monomer volume fraction, v mf is changed from 0.3
conditions and the results are presented in terms of to 0.33 while keeping the set-point at 364.87 K and Tf at
three cases. In the first case, the process is initially 313 K. The input and output profiles corresponding
operated under stable operation. Then changes are these conditions are shown in Figs. 13(c) and 13(d),
introduced in temperature set point and the controller respectively. Though the changes are introduced at
is applied to maintain the desired operation under different timings in one time scale, the results are
different input disturbance conditions introduced at represented in separate figures with two time scales
different timings. In the second case, the process is for the sake of clarity. From these results, it is observed
operated under oscillatory condition. The controller is that the NIMC tracks the desired condition very
applied to stabilize the process at the desired quickly, whereas the PI controller exhibits oscillatory
condition at a time during the open-loop oscillatory behaviour for a longer duration. The PI controller
dynamics. In the third case, the process is operated could even fail for change in v mf as shown in Fig. 13(c).
under chaotic behaviour. The controller is applied to The NIMC effectively rejects the disturbance
suppress the chaotic dynamics and to maintain the conditions and leads the process back to its desired
desired operation. The results of the NIMC strategy operation in a very conservative fashion.
are also compared with those of a conventional PI
In the second case, the process is disturbed from its
controller. The tuning parameter in NIMC strategy is
initial steady state by changing the Tc from 320 K to
chosen as 1 =16.5. The PI controller parameters are
318 K at t=8.3 min. This condition makes the process to
evaluated by using Ziegler and Nichols method and
further tuned and set as Kc = 1.76 and I =4.0. A exhibit oscillatory behaviour. This open-loop
sampling time of 1 sec is used for implementing the behaviour of the system is shown in Fig. 14(a). During
estimator and controller. For the first case, the process the oscillatory operation at t = 217.4 min, the
is initially at the stable steady state with T=366.4 K and controllers are applied to stabilize the operation and to
Tc=320 K. At time t = 8.3 min, the temperature set-point maintain the desired response condition, which is set
is changed from 366.4 to 364.87 K and at t = 200 min, Tf as 364.87K for this case. The results of process output
is changed from 315.00 to 313.00 K while keeping the and controller output for both the controllers are
set-point as 364.87 K. The input and output profiles shown in Figs. 14(b) and 14(c), respectively. From
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these results, it is observed that both the controllers shown in Table 3 correspond to the conditions for
are able to track the process to the desired condition, which the results are depicted in figures referred in
but the NIMC has shown better performance by Table. 3. These quantification results further confirm
quickly suppressing the oscillations. In the third case, that the NIMC strategy is better suited for the control
the process is exhibiting chaotic behaviour for T=347.6 of nonlinear dynamical processes.
K and Tc = 318 K.
Chemical Reactor
IAE
REFERENCE
NIMC P ID
FIG. 14 OPEN LOOP AND CLOSED LOOP RES ULTS : (A) OPEN- 0.748 72.763 Fig. 4
LOOP BEHAVIOUR (B) CONTROLLEDOUTPUT(C) CONTROL
INPUT 0.347 93.524 Fig. 5
During the chaotic operation at t = 240 min, the 7.121 83.042 Fig. 6
controllers are applied to stabilize the operation and to
maintain the desired response which is set as 364.87K 0.924 93.709 Fig. 7
for this case. The results of process output and 6.852 118.350 Fig. 8
controller output for both the controllers are shown in
Polymer Reactor
Figs. 15(a) and 15(b), respectively. Again, the NIMC
has performed better by quickly suppressing the 0.000985 174.193 Fig. 13
chaotic dynamics with less stringent control actions. 40.605 110.697 Fig. 14
The results evaluated for both the chemical and
138.626 339.425 Fig. 15
polymerization reactors show the superior
performance of the estimator based NIMC strategy
Conclusions
over the conventional controllers. The performances of
the controllers for different conditions are also Complex dynamical systems can present the
expressed in terms of IAE values. The IAE values phenomena such as multiple steady state behaviour,
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nonlinear oscillations and chaos. This phenomenon is where P0is initial statecovariance matrix, Q (t) is
usually analysed by means of dynamic mathematical process noise covariance matrix and R(tk ) is
models. The availability of such models can form a observation noise covariance matrix. The EKF
basis for the development of advanced nonlinear estimation algorithm is given in Appendix B.
controllers for such systems. The nonlinear model
based controllers require the process state information Appendix B: State Estimation Algorithm
in the controller formulation. This necessitates the The extended Kalman filter is computed in two steps.
need for an estimator to provide the unmeasured The first is a prediction step, which is used to
process states desired by the controller. Thus, this extrapolate the previous best estimates, and the
work is focused towards the development of a second is a correction step by which the updated
nonlinear model based controller for complex estimates are formed. Since prediction is based on
dynamic systems, which is supported by a nonlinear process model, continuous prediction and discrete
model based estimator. A nonlinear internal model correction are employed in the estimation scheme.
control (NIMC) strategy that incorporates the
Prediction equations: By starting with an initial estimate
nonlinear model structure and the estimator dynamics
x o and its covariance Po at time zero and no
in the control law is presented for the control of
measurements are taken between tk-1 and tk , the
complex dynamical systems. The estimator is designed
propagating expression for the state estimate and its
to provide the unmeasured process states that capture
covariance from tk-1 to tk are,
the fast changing nonlinear dynamics of the process to
incorporate in the controller. The performance of the x (t/t k 1 ) = f ( x (t/t k-1 ), t ) (B.1)
estimator supported NIMC strategy is evaluated by
applying it for the control of a non-isothermal P (t/t k-1 ) = F ( x (t/t k-1 ), t ) P(t/t k-1 )
(B.2)
nonlinear chemical reactor and a homopolymerization + P(t/t k-1 ) F T ( x (t/t k-1 ), t ) + Q(t )
reactor, which exhibit rich dynamical behaviour
ranging from stable situations to chaos. The results where F ( x (t / t k 1 ), t ) is the state transition matrix
evaluated under different conditions show the whose i j th element is given by
superior performance of the estimator based NIMC
strategy over the conventional controllers. f i ( x(t ), t )
F ( x (t/t k-1 ), t ) = x ( t ) = x ( t/t k-1 ) (B.3)
x j (t )
Appendix A: Process Representation
The time varying model of the nonlinear process is The solution of the propagated estimate x (t/t k-1 ) and
represented by its covariance P(t/tk-1) at time tk are denoted by
x (tk /tk-1 ) and P(tk/tk-1). By using measurements at time
x (t) = f ( x(t ), t ) + w(t ) , x(0) = x0 (A.1)
tk, the update estimate x (t k /t k ) and its covariance
where x(t) is n dimensional state vector, f is a P(tk /tk ) are computed.
nonlinear function of state x(t) and w(t) is an additive
Correction equations: The equations to obtain corrected
Gaussian noise with zero mean. The nonlinear
estimates are:
measurement model with observation noise can be
expressed as x (t k /t k ) = x (t k /t k 1 ) + K (t k )[ y (t k ) h ( x (t k / t k 1 ))]
y (t k ) = h( x(t k )) + (t k ) (A.2) (B.4)
P (t k /t k ) = ( I K (t k ) H ( x(t k ))) P (t k / t k 1 ) (B.5)
where h is a nonlinear function of state x(tk ). The T
expected values of noise covariance matrices for the
P (t k / t k 1 ) H ( x(t k ))
K (t k ) = (B.6)
initial state x(0), process noise w(t) and observation ( H ( x(t k )) P(t k / t k 1 ) H T ( x(t k )) + R)
noise v(tk ) are given by the following relations,
hi ( x(t k ))
P0 = E[( x0 x(0))( x0 x(0)) T ] where, H ( x(t k )) = x ( t k ) = x ( t k /t k 1 )
x(t k )
Q(t ) = E[ w(t) w T (t)] (A.3)
The recursive initial conditions for state and
R(t k ) = E[ v(t k ) v T (t k )] covariance are:
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k ratio of the activation energies for the series I time constant for integral action
reaction
m volume fraction of monomer in reactor
kd rate constant for initiator decomposition, l/s
mf volume fraction of monomer in feed
kp rate constant for propagation, l/gmol s
density of reaction mixture, g/l
kt rate constant for termination, l/gmol s
f density of feed, g/l
Kc controller gain
f(T) density of feed adjusted to reactor
(MW)m molecular weight of monomer, g/g mol temperature, g/l
P live radical concentration, gmol/l m density of monomer at reactor conditions, g/l
qo qi ratio of outlet to inlet volumetric flow rate mf density of monomer at feed conditions, g/l
UA overall heat transfer coefficient, cal/min K Aguilar-Lpe z, Ricardo, and Martine z-Gue rra, Rafae l, State
estimation for nonlinear systems under mode l
ut manipulated variable
unobservable unce rtaintie s: Application to continuous
V volume of the reactor, l
reactor, Chemical Enginee ring Journal 108 (2005), 139-
xt mole fraction of polymer 144.
x1 dimensionless concentration of species A Alvare z, Jess, Sure z, Rodolfo, and Snche z, Arturo,
yi weight fraction of respective components state , Che mical Enginee ring Journal 67 (1997), 103-114.
(i= m,s,p) Blanco, Anbal M, and Bandoni, J Albe rto, Eige nvalue
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www.se ipub.org/acer Advance d Chemical Enginee ring Research (ACER) Volume 2 Issue 1, March 2013
gas phase polymerization of propyle ne , Che mical chaotic reactor, Inte llige nt Control Syste ms and Signal
e ngineering scie nce 43 (1988), 2587-2604. Processing 2 (2009), 537-543.
Ch. Ve nkateswarlu, K. Gangiah, Comparison of nonlinear
Kravaris, Costas, and Chung, Chang-Bock, Nonline ar state
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