Abstract
In this paper, the control problem for continuously stirred tank reactor (CSTR) systems with input nonlinearities and unknown disturbances is addressed. To ensure constraints satisfaction on the input and the output of CSTR, we employ a system transformation technique to transform the original constrained model of CSTR into an equivalent unconstrained model, whose stability is sufficient to achieve the tracking control of the original CSTR system with a priori prescribed performance. To deal with two kinds of input nonlinearities, two neural networks (NNs)-based adaptive controllers are proposed. In the first approach, a robust control term is introduced to overcome the effects of the unknown input dead zone; however, in the second approach, an anti-windup compensator is designed to reduce the influence of the actuator saturation. In the proposed control methods, NNs are employed to approximate the unknown dynamics of CSTR and additional adaptive compensators are introduced to cope with NNs approximation errors and external disturbance. The proposed adaptive neural tracking controllers are designed with only one adaptive parameter by using the second Lyapunov stability method. In comparison with the traditional back-stepping-based techniques, usually used in CSTR control, the structures of the proposed controllers are much simpler with few design parameters since the causes for the problem of complexity growing are completely eliminated. Simulation results are presented to show the effectiveness of the proposed controllers.
Similar content being viewed by others
References
Alvarez-Ramirez J, Femat R (1999) Robust PI stabilization of a class of chemical reactors. Syst Control Lett 38(4–5):219–225
Pérez M, Albertos P (2004) Self-oscillating and chaotic behaviour of a PI-controlled CSTR with control valve saturation. J Process Control 14(1):51–59
Viel F, Jadot F, Bastin G (1997) Robust feedback stabilization of chemical reactors. IEEE Trans Autom Control 42(4):473–481
Antonelli R, Astolfi A (2003) Continuous stirred tank reactors: easy to stabilise? Automatica 39(10):1817–1827
Biagiola SI, Figueroa JL (2004) A high gain nonlinear observer: application to the control of an unstable nonlinear process. Comput Chem Eng 28(9):1881–1898
Jana AK, Samanta AN, Ganguly S (2005) Globally linearized control on diabatic continuous stirred tank reactor: a case study. ISA Trans 44(3):423–444
Daaou B, Mansouri A, Bouhamida M, Chenafa M (2012) Development of linearizing feedback control with a variable structure observer for continuous stirred tank reactors. Chin J Chem Eng 20(3):567–571
So GB, Jin GG (2018) Fuzzy-based nonlinear PID controller and its application to CSTR. Korean J Chem Eng 35(4):819–825
Wang ZY, Wang GX (2017) Temperature fault-tolerant control system of CSTR with coil and jacket heat exchanger based on dual control and fault diagnosis. J Cent South Univ 24(3):655–664
Pratap A, Raja R, Rajchakit G, Cao J, Bagdasar O (2019) Mittag-Leffler state estimator design and synchronization analysis for fractional-order BAM neural networks with time delays. Int J Adapt Control Signal Process 33(5):855–874
Pratap A, Raja R, Cao J, Rajchakit G, Fardoun HM (2019) Stability and synchronization criteria for fractional order competitive neural networks with time delays: An asymptotic expansion of Mittag Leffler function. J Franklin Inst 356(4):2212–2239
Anbalagan P, Ramachandran R, Cao J, Rajchakit G, Lim CP (2019) Global robust synchronization of fractional order complex valued neural networks with mixed time varying delays and impulses. Int J Control Autom Syst 17(2):509–520
Alamdar Ravari M, Yaghoobi M (2019) Optimum design of fractional order PID controller using chaotic firefly algorithms for a control CSTR system. Asian J Control 21:2245–2255
Huaguang Z, Cai L (2002) Nonlinear adaptive control using the Fourier integral and its application to CSTR systems. IEEE Trans Syst Man Cybern Part B 32(3):367–372
Prakash J, Senthil R (2008) Design of observer based nonlinear model predictive controller for a continuous stirred tank reactor. J Process Control 18(5):504–514
Laurí D, Lennox B, Camacho J (2014) Model predictive control for batch processes: ensuring validity of predictions. J Process Control 24(1):239–249
Zerari N, Chemachema, M, Essounbouli N (2018) Adaptive neural-network output feedback control design for uncertain CSTR system with input saturation. In: 2018 international conference on electrical sciences and technologies in Maghreb (CISTEM). IEEE, pp 1–6
Sowmiya C, Raja R, Cao J, Rajchakit G (2018) Enhanced result on stability analysis of randomly occurring uncertain parameters, leakage, and impulsive BAM neural networks with time-varying delays: discrete-time case. Int J Adapt Control Signal Process 32(7):1010–1039
Sowmiya C, Raja R, Cao J, Rajchakit G, Alsaedi A (2018) Exponential stability of discrete-time cellular uncertain Bam neural networks with variable delays using Halanay-type inequality. Appl. Math 12(3):545–558
Zerari N, Chemachema M, Essounbouli N (2018) Neural network based adaptive tracking control for a class of pure feedback nonlinear systems with input saturation. IEEE/CAA J Autom Sin 6(1):278–290
Zerari N, Chemachema M, Essounbouli, N. (2017, November). Adaptive neural control design of MIMO nonaffine nonlinear systems with input saturation. In: International conference on electrical engineering and control applications. Springer, Cham, pp 155–167
Chemachema M (2012) Output feedback direct adaptive neural network control for uncertain SISO nonlinear systems using a fuzzy estimator of the control error. Neural Netw 36:25–34
Bounemeur A, Chemachema M, Essounbouli N (2018) Indirect adaptive fuzzy fault-tolerant tracking control for MIMO nonlinear systems with actuator and sensor failures. ISA Trans 79:45–61
Wang LX, Ying H (1995) Adaptive fuzzy systems and control: design and stability analysis. J Intell Fuzzy Syst Appl Eng Technol 3(2):187
Park J, Sandberg IW (1991) Universal approximation using radial-basis-function networks. Neural Comput 3(2):246–257
Salehi S, Shahrokhi M (2008) Adaptive fuzzy approach for H∞ temperature tracking control of continuous stirred tank reactors. Control Eng Pract 16(9):1101–1108
Salehi S, Shahrokhi M (2009) Adaptive fuzzy backstepping approach for temperature control of continuous stirred tank reactors. Fuzzy Sets Syst 160(12):1804–1818
Li Z, Xiao H, Yang C, Zhao Y (2015) Model predictive control of nonholonomic chained systems using general projection neural networks optimization. IEEE Trans Syst Man Cybern Syst 45(10):1313–1321
Li D (2014) Adaptive neural network control for a class of continuous stirred tank reactor systems. Sci China Inf Sci 57(10):1–8
Li S, Gong M, Liu Y (2016) Neural network-based adaptive control for a class of chemical reactor systems with non-symmetric dead-zone. Neurocomputing 174:597–604
Li DJ, Tang L (2014) Adaptive control for a class of chemical reactor systems in discrete-time form. Neural Comput Appl 24(7–8):1807–1814
Wu W (2003) Adaptive-like control methodologies for a CSTR system with dynamic actuator constraints. J Process Control 13(6):525–537
Wu F (2001) LMI-based robust model predictive control and its application to an industrial CSTR problem. J Process Control 11(6):649–659
Li DJ, Li DP (2015) Adaptive controller design-based neural networks for output constraint continuous stirred tank reactor. Neurocomputing 153:159–163
Li DJ (2015) Adaptive neural network control for a two continuously stirred tank reactor with output constraints. Neurocomputing 167:451–458
Bechlioulis CP, Rovithakis GA (2008) Robust adaptive control of feedback linearizable MIMO nonlinear systems with prescribed performance. IEEE Trans Autom Control 53(9):2090–2099
Bechlioulis CP, Rovithakis GA (2009) Adaptive control with guaranteed transient and steady state tracking error bounds for strict feedback systems. Automatica 45(2):532–538
Henson MA, Seborg DE (1990) Input-output linearization of general nonlinear processes. AIChE J 36(11):1753–1757
Chang WD (2013) Nonlinear CSTR control system design using an artificial bee colony algorithm. Simul Model Pract Theory 31:1–9
Uppal A, Ray WH, Poore AB (1974) On the dynamic behavior of continuous stirred tank reactors. Chem Eng Sci 29(4):967–985
Polycarpou MM, Ioannou PA (1993) A robust adaptive nonlinear control design. In: 1993 American Control Conference. IEEE, pp 1365–1369
Deng H, Krstić M (1997) Stochastic nonlinear stabilization—I: a backstepping design. Syst Control Lett 32(3):143–150
White DA, Sofge DA (eds) (1992) Handbook of intelligent control: neural, fuzzy, and adaptative approaches. Van Nostrand Reinhold Company, New York
Gupta MM, Rao DH (1994) Neuro-control systems: theory and applications. IEEE Press, Piscataway
Wang XS, Su CY, Hong H (2004) Robust adaptive control of a class of nonlinear systems with unknown dead-zone. Automatica 40(3):407–413
Galeani S, Tarbouriech S, Turner M, Zaccarian L (2009) A tutorial on modern anti-windup design. Eur J Control 15(3–4):418–440
Do HM, Basar T, Choi, JY (2004) An anti-windup design for single input adaptive control systems in strict feedback form. In: Proceedings of the 2004 American Control Conference, vol 3. IEEE, pp. 2551–2556
Funding
The authors declare that they have no known competing financial interests or personal relationships that could have appeared to influence the work reported in this paper.
Author information
Authors and Affiliations
Corresponding author
Ethics declarations
Conflict of interest
The authors declare that they have no conflict of interest.
Additional information
Publisher's Note
Springer Nature remains neutral with regard to jurisdictional claims in published maps and institutional affiliations.
Rights and permissions
About this article
Cite this article
Zerari, N., Chemachema, M. Robust adaptive neural network prescribed performance control for uncertain CSTR system with input nonlinearities and external disturbance. Neural Comput & Applic 32, 10541–10554 (2020). https://doi.org/10.1007/s00521-019-04591-1
Received:
Accepted:
Published:
Issue Date:
DOI: https://doi.org/10.1007/s00521-019-04591-1