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This article proposes a controller design method for the continuous stirred-tank reactor (CSTR) in the biodiesel process. First, the dynamics model of the reactor in the biodiesel continuous process is presented. Then, a controller design method, using both input-output linearization method and PD method, is presented to control the concentration of the biodiesel. The appropriate value of gain PD is set in order to control heat energy put into the CSTR. The result shows this control method yields better transient response in terms of settling time and percent overshoot.