Robust Estimation for a CSTR Using a High Order Sliding Mode Observer and an Observer-Based Estimator

  • Héctor Botero
  • Esteban Jiménez-Rodríguez Universidad Nacional de Colombia, Sede Medellín
  • Oscar Jaramillo Universidad Nacional de Colombia, Sede Medellín
  • Juan Diego Sánchez Torres Universidad Jesuita de Guadalajara


This paper presents an estimation structure for a continuous stirred-tank reactor, which is comprised of
a sliding mode observer-based estimator coupled with a high-order sliding-mode observer. The whole
scheme allows the robust estimation of the state and some parameters, specifically the concentration
of the reactive mass, the heat of reaction and the global coefficient of heat transfer, by measuring the
temperature inside the reactor and the temperature inside the jacket. In order to verify the results, the
convergence proof of the proposed structure is done, and numerical simulations are presented with
noiseless and noisy measurements, suggesting the applicability of the posed approach.


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