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The main objective of this work is to present an alternative methodology for the design of a class of integral high order slidingmode controller applied to a class of continuous chemical reactor with complex behavior for temperature tracking purposes. The proposed design is based on the differential geometry framework, where the named reaching trajectory contains a high order sliding mode term in order to diminish chattering. Considering that the proposed technique is model based, an observerbased uncertainty estimator is coupled, which provides robustness against model uncertainties and noisy measurements. Numerical simulations are performed in order to show the capacities of the proposed controller, which is compared with other nonlinear methodologies.

Dynamic nonlinear feedback for temperature control of continuous stirred reactor with complex behavior