This model controls the concentration of the reactant in a mixing unit. In the presence of a catalyst, the reactant splits into several base products that are continuously removed from the tank. Since it is an exothermic reaction, the mixing reactor is cooled with a cooling medium. The cooling temperature is the primary actuation signal and the concentration of the reactant is the controlled signal.
The overall system presents a good control behavior, as the concentration of the reactant in the mixing unit follows the desired signal.
Use nonlinear feedforward controller to design for the whole operating region of a plant.