Robust control with uncertainty estimation for feedback linearizable systems: application to control of distillation columns

The goal of this paper is to describe a linearizing feedback adaptive control structure which leads to a high quality regulation of the output error in the presence of uncertainties and external disturbances. The controller consists of three elements: a nominal input±output linearizing compensator, a state observer and an uncertainty estimator, which provides the adaptive part of the con- trol structure. In this way, the feedback controller, based on the disturbance observer, compensates for external disturbances and plant uncertainties. The e€ectiveness of the controller is demonstrated on a distillation column via numerical simulations.