Nonlinear controller design with application to a continuous bioreactor

The goal of this work is to present a mathematical model of a sulfate-reducing bioreactor where a proposed nonlinear controller is applied to regulate the dynamics of the process. The corresponding kinetic model, experimentally corroborated, is extended to simulate continuous operation, and a class of smooth controllers, under the frame of sliding modes, is proposed to control the sulfate concentration into the bioreactor employing the dilution rate as control input, with successes. The proposed controller avoids the named chattering phenomena for its smooth structure, and its performance is compared with a well tuned proportional-integral and high-order sliding-mode controllers in order to analyze their corresponding closed-loop behavior. A sketch of proof of the closed-loop stability is provided.

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