Predictor-Feedback Stabilization of Multi-Input Nonlinear Systems

We develop a predictor-feedback control design for multi-input nonlinear systems with distinct input delays, of arbitrary length, in each individual input channel. Due to the fact that different input signals reach the plant at different time instants, the key design challenge, which we resolve, is the construction of the predictors of the plant's state over distinct prediction horizons such that the corresponding input delays are compensated. Global asymptotic stability of the closed-loop system is established by utilizing arguments based on Lyapunov functionals or estimates on solutions. We specialize our methodology to linear systems for which the predictor-feedback control laws are available explicitly and for which global exponential stability is achievable. A detailed example is provided dealing with the stabilization of the nonholonomic unicycle, subject to two different input delays affecting the speed and turning rate, for the illustration of our methodology.Comment: Submitted to IEEE Transactions on Automatic Control on May 19 201

Multiple Steady States in Heterogeneous Azeotropic Distillation

In this article we study multiple steady states in ternary heterogeneous azeotropic distillation. We show that in the case of infinite reflux and an infinite number of trays one can construct bifurcation diagrams on physical grounds with the distillate flow as the bifurcation parameter. Multiple steady states exist when the distillate flow varies non-monotonically along the continuation path of the bifurcation diagram. We show how the distillate and bottom product paths can be located for tray or packed columns, with or without decanter and with different types of condenser and reboiler. We derive a necessary and sufficient condition for the existence of these multiple steady states based on the geometry of the product paths. We also locate in the composition triangle the feed compositions that lead to these multiple steady states. We show that the prediction of the existence of multiple steady states in the case of infinite reflux and an infinite number of trays has relevant implications for columns operating at finite reflux and with a finite number of trays