The most of the processes not only in the industry has nonlinear behavior and control of such processes could be difficult. The controller here consists of linear and nonlinear part where the nonlinear part is derived from the static analysis and the linear part describes nonlinear elements in the loop by the External Linear Model (ELM), parameters of which are estimated recursively with the use of delta (delta-) models. The control synthesis employs polynomial approach with the pole assignment method. The proposed control method satisfies basic control requirements and it was tested by the simulations on the mathematical model of Continuous Stirred Tank Reactor (CSTR) with spiral cooling in the jacket as a typical member of the nonlinear system with lumped parameters.
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