Continuously stirred tank reactor system

Model description: 

A schematic of the CSTR plant is shown in the attached image. The process dynamics are described by

$$\begin{align*} \dot{C}_{a} &=\frac{q}{V}(C_{a0}-c_{a})-a_{0}C_{a}e^{-\frac{E}{RT_{a}}} \\ \dot{T}_{a} &=\frac{q}{V}(T_{f}-T_{a})+a_{1}C_{a}e^{-\frac{E}{RT_{a}}}+a_{3}q_{c}\left(1-e^{\frac{a_{2}}{q_{c}}}\right)(T_{cf}-T_{a}), \end{align*}$$

where the variables $C_a$ and $T_a$ are the concentration and temperature of the tank, respectively; the coolant flow rate $q_c$ is the control input and the parameters of the plant are defined in the attached table. Within the tank reactor, two chemicals are mixed and react to produce a product compound $A$ at a concentration $C_a(t)$ with the temperature of the mixture being $T(t)$. The reaction is both irreversible and exothermic.

In the paper, authors assumed that plant parameters $q, C_{a0}, T_f$ and $V$ are at the nominal values given in the attached table. The activation energy $E/R = 1 \times 10^4K$ is assumed to be known. The state variables the input and the output are defined as $x=[x_1,x_2]^{\mathrm T}=[C_a,T_a]^{\mathrm T},u=q_c,y=C_a$. Using this notation, the CSTR plant can be re-expressed as

$$\begin{align*} \dot{x}_{1} &=1-x_{1}-a_{0}x_{1}e^{-\frac{10^4}{{\rm a}_2}} \\ \dot{x}_{2} &=T_{f}-x_{2}+a_{1}x_{1}e^{-\frac{10^4}{{\rm a}_2}}+a_{3}u\left(1-e^{-\frac{a_2}{u}}\right)(T_{cf}-x_{2}) \\ y &= x_{1}, \end{align*}$$

where the unknown constant parameters are $a_0, a_1, a_2$ and $a_3$.

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Publication details: 

TitleAdaptive nonlinear control of continuously stirred tank reactor systems
Publication TypeConference Paper
AuthorsZhang, T., and Guay M.