Simulation of Adaptive LQ Control of Nonlinear Process

The contribution is focused on the adaptive control of the nonlinear system represented by the continuous stirred-tank reactor with the spiral cooling in the jacket. The mathematical model of this reactor is described by two nonlinear ordinary differential equations which were solved numerically. The adaptive controller is based on the choice of the external linear delta model of the originally nonlinear process, parameters of which are identified recursively and parameters of the controller are recomputed too. The structure of the controller was constructed with the use polynomial synthesis together with linear-quadratic approach. The resulted controller fulfills basic control requirements and it can be used for system with negative control properties. All experiments were made by simulations in the MATLAB environment.