Multivariable constrained process control via Lyapunov R-functions

► An innovative smooth control Lyapunov function is proposed to stabilize multivariable constrained processes. ► Robustness with respect to model uncertainties is discussed. ► Constructive algorithms are given for tuning the free design parameters. ► Multivariable chemical reactions taking place in constrained Continuous Stirred Tank Reactors (CSTRs) are addressed as case studies.