Design of Adaptive Three-Term Controllers for Unstable Bioreactors: A Lyapunov Based Approach

摘要

A new adaptive controller is presented in this paper for the purpose of solving the tracking problem of linear systems that are subject to large parametric uncertainty and sudden exogenous disturbances. The proposed controller relies on the Pseudo-Derivative Feedback (PDF) control configuration, which has distinct advantages over other three-term control structures, such as the conventional PID controller. The design of the proposed adaptive PDF controller is based on the powerful tools provided by the back stepping and the Lyapunov control design approaches. The performance of the designed controller is tested through its application to the biomass concentration speed control of biotechnological processes with large dead time and hard input constraints. Simulation results illustrate the excellent reference tracking and disturbance rejection capabilities of the proposed controller that is quite simple and easy to implement in practice.