Robust multivariable feedback design for an uncertain non-isothermal CSTR

A non-isothermal continuous stirred tank reactor (CSTR) described by a multivariable state space model with significant uncertainty in the value of some matrix entries, is given. Also given are the time domain tracking performance specifications, to be achieved over the entire range of parametric uncertainty. Starting with a two-matrix-degree-of-freedom feedback structure, a multivariable controller and prefilter are synthesized, using multivariable quantitative feedback theory techniques. The obtained design is verified through extensive simulations, both in frequency and time domains, with highly satisfactory results.<>