A globally convergent estimator of the parameters of the classical model of a continuous stirred tank reactor

In this paper we provide the first solution to the challenging problem of designing a globally convergent estimator for the parameters of the standard model of a continuous stirred tank reactor. Because of the presence of non-separable exponential nonlinearities in the system dynamics that appear in Arrhenius law, none of the existing parameter estimators is able to deal with them in an efficient way and, in spite of many attempts, the problem was open for many years. To establish our result we propose a novel procedure to obtain a suitable nonlinearly parameterized regression equation and introduce a radically new estimation algorithm- derived applying the Immersion and Invariance methodology-that is applicable to these regression equations. A further contribution of the paper is that parameter convergence is exponential and is guaranteed with weak excitation requirements. To achieve this remarkable property we rely on the utilization of a recently introduced parameter estimator that seamlessly combines a classical least-squares search with the dynamic regressor extension and mixing estimation procedure.