This repository contains a multi‑phase project for the Modern Control course, focusing on the modelling, analysis, and control of a non‑isothermal continuous stirred‑tank reactor (CSTR).
| Phase | Status | Description |
|---|---|---|
| 1 | ✅ Completed | Nonlinear modelling, linearisation, stability analysis, sensitivity analysis, canonical forms, controllability & observability checks, model validation (RMSE). |
| 2 | 🚧 Planned | Linear controller design (LQR, PID), observer design, and simulation on the nonlinear plant. |
| 3 | 🚧 Planned | Advanced control techniques (to be defined). |
All files for Phase 1 are in the Phase1/ folder.
Phase1/cstr_phase1.pdf– Full English report with all derivations, tables, and figures.Phase1/cstr_phase1.tex– LaTeX source.
Phase1/figures/– Pole‑zero map, step response, sensitivity plots, validation curves, RMSE analysis.
Phase1/matlab/– Scripts for nonlinear simulation, linearisation, stability analysis, canonical transformations, and RMSE validation.
- Extracted the nonlinear dimensionless state‑space model from the reference paper.
- Linearised around the operating point and computed system matrices.
- Confirmed asymptotic stability (poles at
$-1.2113 \pm j0.3594$ ). - Performed sensitivity analysis on the heat transfer coefficient
$U$ . - Derived controller and observer canonical forms.
- Proved controllability and observability via five methods (matrix rank, Jordan form, Gramians, Popov–Belevitch–Hautus).
- Validated the linear model against the nonlinear plant with step and sinusoidal inputs; maximum RMSE
$\approx 2\times 10^{-4}$ .
- Phase 2 will design linear controllers (LQR, PID) and observers, then test them on the nonlinear model.
- Phase 3 may explore robust or nonlinear control approaches.
- Course: Modern Control (25792)
- Instructor: Prof. Hossein Pourshamsaei
- Date: June 2026
- Mohammad Reza Mahdavi
- Mohammad Mahdi Barzegar
Status: In Progress – remaining sections will be added soon.