On-Line Neighbouring-Extremal Controller Design for Setpoint-Transition in Presence of Uncertainty

In this paper we present an approach suitable for optimal constrained control of processes subject to uncertainties. The controller follows from a nominal solution of dynamic optimisation of a theoretical model which needs not to be very accurate. The nominal optimal control trajectory is identified as a sequence of arcs and boundaries. Real output measurements are used to cancel model mismatch and to augment nominal inputs on-line using state-feedback law. Neighbouringextremal controller is designed to follow the nominal output trajectory in interior arcs using necessary conditions for optimality (NCO). Methodology will be implemented for setpoint-transition of van de Vusse reactor type. Finally, the performance of neighbouring-extremal controller will be benchmarked using several perturbation scenarios.