Abstract
A robust nonlinear adaptive controller merging a backstepping approach with neural networks is proposed for a nonlinear non-affine model. The work presented here is evaluated on a complex uncertain model of a continuous stirred tank reactor plant including an unknown varying parameter that enters the complexity model. By exploiting NN and adaptive backstepping approximation methods, an equivalent adaptive NN controller is constructed to achieve robust asymptotic output tracking control. The robustness to uncertainties as well as the lack of informative process data is the main enhancement of this work. This is attained through the implementation of the covariance resetting algorithm in the least square estimation of the NN weight tuning algorithm. The proposed novel control algorithm has been analyzed using Lyapunov analysis. In addition to excellent output trajectory tracking performance, the proposed approach has a profound benefit in terms of substantially lower control effort in comparison to the established work in the literature. In terms of applications in the petrochemical industry, lower control effort can translate to a more energy-efficient actuator, leading to lower costs over a long-run operation. The proposed method's feasibility for chemical process control was shown via numerical simulation.