Dual CSTR nonlinear differential equation model

Dual CSTR nonlinear differential equation model. It consists of 4 differential equations with mole and energy balances over the 2 reactors. It is a good test model for nonlinear model predictive control (MPC), Kalman filtering, and moving horizon estimation (MHE).

This model is found in:

Henson, M.A. and Seborg, D.E., Feedback Linearizing Control, Chap. 4 of Nonlinear Process Control, Edited by Hensen, M.A. and Seborg, D.E., Prentice Hall (1997)

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