Asymptotic Output Tracking 

Design a feedback controller that will maintain the liquid level and product concentration of a continuous stirred-tank reactor at specified values. »

The affine system with states and inputs .

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The objective is to maintain the outputs at , with error decay rates .

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The feedback controller that will achieve the objective.

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The closed-loop system.

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Simulate the closed-loop system to verify the tracking.

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The control effort.

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