Immersion and invariance adaptive control of a class of continuous stirred tank reactors

An immersion and invariance(I&I) manifold based adaptive control algorithm is presented for a class of continuous stirred tank reactors(CSTR) to realize performance-oriented control in this paper. The nonlinear contraction method is combined into the control law design to render the closed-loop CSTR system globally asymptotically stable, firstly. Then, the I&I method is used to form the adaptation law such that the off-the-manifold coordinate(the parameter estimation error) converges to zero using P-monotone property enforced by selecting tuning function in manifold. As a result, the state of the closed-loop CSTR converges to its desired value asymptotically. The simulation is given to illustrate the effectiveness of the presented algorithm.