Controller synthesis for input-constrained nonlinear systems subject to unmeasured disturbances

Two synthesis methods for constrained nonlinear systems are applied to systems with unmeasured disturbances. The first approach, an extension to nonlinear internal model control (NLIMC), solves an instantaneous minimization to ensure nominal performance. The second approach utilizes Lyapunov theory to obtain a controller which guarantees bounds on the system input and output for bounded unmeasured disturbances. The utility of both approaches is demonstrated for a CSTR case study.