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Flatness-Based Active Disturbance Rejection Control with B-Spline Output Regulation for a Chemical Reactor | ||
| IRAQI JOURNAL OF COMPUTERS, COMMUNICATIONS, CONTROL AND SYSTEMS ENGINEERING | ||
| Volume 25, Issue 2, October 2025, Pages 1-15 PDF (1.84 M) | ||
| Document Type: Research Paper | ||
| DOI: https://doi.org/10.33103/uot.ijccce.25.2.1 | ||
| Authors | ||
| Qasim M. Hamad* 1; Safanah M. Raafat2 | ||
| 1Electrical Engineering Department, University of Babylon | ||
| 2Control and System Engineering Department, University of Technology | ||
| Abstract | ||
| Model uncertainties and exogenous disturbances are inherent phenomena in chemical plants that degrade performance and lead to poor-quality products. To mitigate these issues, this paper addresses disturbances by exploiting the differential flatness property (DFP) of the nonlinear continuous stirred tank reactor (NCSTR). A two-degree-of-freedom (2DOF) control design was implemented, incorporating flatness-based feedforward and feedback controllers. This design leverages the differential flatness method for effective stabilization and tracking performance. A robust feedback tracking control strategy integrating a disturbance observer (DO) and a simple feedback controller was implemented to form a flatness active disturbance rejection control (FADRC) scheme. The B-spline technique was used for trajectory generation to enhance the performance of the proposed control strategy. Additionally, constraints were handled symbolically rather than numerically by designing B-spline curves for the system's flat output. This approach ensures a feasible open-loop reference trajectory that satisfies the feedback controller's states and input constraints. A comparison was conducted between the switching function-based (SF) trajectory and the B-spline (Bs) designed reference trajectory regarding their impact on system tracking performance, smoothness, and robustness to disturbances. A detailed analysis evaluated tracking errors, control effort, and disturbance rejection capabilities under both trajectory designs. The proposed flatness-based ADRC methodology efficiently managed exogenous disturbances and constraints on the input of a nonlinear plant. | ||
| Keywords | ||
| Flatness-based Control; Active disturbance rejection control; trajectory design; B-spline | ||
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