Minimizing the effects of unmeasured disturbances in an open-loop unstable chemical plant containing measurement dead times

At first, the NMPC algorithm based on a nonlinear programming approach is presented. Then, on-line parameter-identification and state-estimation schemes are combined with the NMPC algorithm to maintain the process at a steady-state which is unstable for the open-loop system. Finally, the effectiveness of the proposed method is demonstrated via simulation on the control of a catalytic continuous stirred tank reactor (CSTR).