Application of state estimation based NMPC to an unstable nonlinear process

Abstract

Model predictive control (MPC) has become very popular both in process industry and academia due to its effectiveness in dealing with nonlinear, multivariable and/or hard-constrained plants. Although linear MPC can be applied for controlling nonlinear processes by obtaining a linearized model of the plant, this is only valid in a limited region. Therefore, a substantial improvement can be achieved by using the whole knowledge of the process dynamics, specially in the presence of marked nonlinearities. This effect can be strong if the process to control is open-loop unstable, The purpose of this paper is to introduce a nonlinear model predictive controller (NMPC) based on nonlinear state estimation, in order to exploit the knowledge of the nonlinear dynamics and to avoid modeling simplifications or linearization. A state-space formulation is proposed to achieve the control objective. To update the optimization involved in NMPC strategy, state estimation based on the measured outputs is proposed. As a particular application, we consider an open-loop unstable jacketed exothermic chemical reactor. This CSTR is widely recognized as a difficult problem for the purpose of control. In order to achieve the control goal, a NMPController coupled with a state observer are designed. The observer is also used to estimate some unmeasured disturbances. Finally, computer simulations are developed for showing the performance of both the nonlinear observer and the control strategy.