Robust regulation of temperature in a fluidized bed reactor via uncertainty estimation

The proposed strategy comprises two parts: (a) an input-output linearizing feedback control law and (b) an uncertainties dynamic estimator. The main idea is to lump the uncertainties in a nonlinear function which can be interpreted as a variable state in an externally dynamically equivalent system. The dynamics of this state can be reconstructed from output measurements. In such way that an estimator can provide information of the uncertainties to a linearizing control law.