Optimal control of bacterial growth for the maximization of metabolite production

Microorganisms have evolved complex strategies for controlling the distribution of available resources over cellular functions. Biotechnology aims at interfering with these strategies, so as to optimize the production of metabolites and other compounds of interest, by (re)engineering the underlying regulatory networks of the cell. The resulting reallocation of resources can be described by simple so-called self-replicator models and the maximization of the synthesis of a product of interest formulated as a dynamic optimal control problem. Motivated by recent experimental work, we are specifically interested in the maximization of metabolite production in cases where growth can be switched off through an external control signal. We study various optimal control problems for the corresponding self-replicator models by means of a combination of analytical and computational techniques. We show that the optimal solutions for biomass maximization and product maximization are very similar in the case of unlimited nutrient supply, but diverge when nutrients are limited. Moreover, external growth control overrides natural feedback growth control and leads to an optimal scheme consisting of a first phase of growth maximization followed by a second phase of product maximization. This two-phase scheme agrees with strategies that have been proposed in metabolic engineering. More generally, our work shows the potential of optimal control theory for better understanding and improving biotechnological production processes.

[1]  Pablo A. Iglesias,et al.  Control Theory and Systems Biology , 2009 .

[2]  M. Ehrenberg,et al.  Optimal control of gene expression for fast proteome adaptation to environmental change , 2013, Proceedings of the National Academy of Sciences.

[3]  D. Fell,et al.  Is maximization of molar yield in metabolic networks favoured by evolution? , 2008, Journal of theoretical biology.

[4]  Arthur L. Koch Why can't a cell grow infinitely fast? , 1988 .

[5]  Frank J. Poelwijk,et al.  Tradeoffs and Optimality in the Evolution of Gene Regulation , 2011, Cell.

[6]  Eduardo D. Sontag,et al.  Molecular Systems Biology and Control , 2005, Eur. J. Control.

[7]  R. Mosteller,et al.  Metabolism of individual proteins in exponentially growing Escherichia coli. , 1980, The Journal of biological chemistry.

[8]  Diego A. Oyarzún,et al.  Synthetic gene circuits for metabolic control: design trade-offs and constraints , 2013, Journal of The Royal Society Interface.

[9]  M. Khammash,et al.  Automated optogenetic feedback control for precise and robust regulation of gene expression and cell growth , 2016, Nature Communications.

[10]  Jean-Luc Gouzé,et al.  Optimal feedback strategies for bacterial growth with degradation, recycling, and effect of temperature , 2018 .

[11]  F. Johnson,et al.  The growth rate of E. coli in relation to temperature, quinine and coenzyme. , 1946, Journal of cellular and comparative physiology.

[12]  John C. Doyle,et al.  Surviving heat shock: control strategies for robustness and performance. , 2005, Proceedings of the National Academy of Sciences of the United States of America.

[13]  Yu. S. Ledyaev,et al.  Nonsmooth analysis and control theory , 1998 .

[14]  H. Schättler,et al.  Geometric Optimal Control , 2012 .

[15]  Ch. Venkateswarlu,et al.  Advances in monitoring and state estimation of bioreactors , 2004 .

[16]  Jean-Luc Gouzé,et al.  Exact control of genetic networks in a qualitative framework: The bistable switch example , 2011, Autom..

[17]  Ellina Grigorieva,et al.  Optimal control of a nonlinear model of economic growth , 2007 .

[18]  V. F. Borisov,et al.  Singular Optimal Regimes in Problems of Mathematical Economics , 2005 .

[19]  Uri Alon,et al.  Cost–benefit theory and optimal design of gene regulation functions , 2007, Physical biology.

[20]  Colin W. Clark,et al.  Mathematical Bioeconomics: The Optimal Management of Renewable Resources. , 1993 .

[21]  L. S. Pontryagin,et al.  Mathematical Theory of Optimal Processes , 1962 .

[22]  Frédéric Grognard,et al.  Optimal resource allocation for biotrophic plant pathogens , 2017 .

[23]  Alexander S. Bratus,et al.  Synthesis of Optimal Control in a Mathematical Model of Economic Growth under R&D Investments , 2015 .

[24]  T. Hwa,et al.  Interdependence of Cell Growth and Gene Expression: Origins and Consequences , 2010, Science.

[25]  P. Lindahl,et al.  Whole-cell modeling framework in which biochemical dynamics impact aspects of cellular geometry. , 2007, Journal of theoretical biology.

[26]  H. Sauro Control and regulation of pathways via negative feedback , 2017, Journal of The Royal Society Interface.

[27]  N. Markley Principles of Differential Equations: Markley/Principles , 2004 .

[28]  F. Bruggeman,et al.  How fast-growing bacteria robustly tune their ribosome concentration to approximate growth-rate maximization , 2015, The FEBS journal.

[29]  Vladimir Borisov,et al.  Theory of Chattering Control , 1994 .

[30]  Gülnur Birol,et al.  Batch Fermentation: Modeling: Monitoring, and Control , 2003 .

[31]  G. Williams,et al.  The relative rates of protein synthesis and degradation in a growing culture of Escherichia coli. , 1980, The Journal of biological chemistry.

[32]  B. Teusink,et al.  Shifts in growth strategies reflect tradeoffs in cellular economics , 2009, Molecular systems biology.

[33]  W. R. Cluett,et al.  Dynamic metabolic engineering for increasing bioprocess productivity. , 2008, Metabolic engineering.

[34]  Chung-Yen Lin,et al.  cytoHubba: identifying hub objects and sub-networks from complex interactome , 2014, BMC Systems Biology.

[35]  Jean-Luc Gouzé,et al.  Optimal resource allocation for bacterial growth with degradation , 2017 .

[36]  Eugenio Cinquemani,et al.  Mathematical modelling of microbes: metabolism, gene expression and growth , 2017, Journal of The Royal Society Interface.

[37]  U. Sauer,et al.  Coordination of microbial metabolism , 2014, Nature Reviews Microbiology.

[38]  M. I. Zelikin,et al.  Theory of Chattering Control: with applications to Astronautics, Robotics, Economics, and Engineering , 1994 .

[39]  Eva Balsa-Canto,et al.  Global dynamic optimization approach to predict activation in metabolic pathways , 2014, BMC Systems Biology.

[40]  Jean-Luc Gouzé,et al.  Dynamical Allocation of Cellular Resources as an Optimal Control Problem: Novel Insights into Microbial Growth Strategies , 2016, PLoS Comput. Biol..

[41]  T. Hwa,et al.  Emergence of robust growth laws from optimal regulation of ribosome synthesis , 2014, Molecular systems biology.

[42]  J. Trevors,et al.  Survival of Escherichia coli in the environment: fundamental and public health aspects , 2011, The ISME Journal.

[43]  Frederick C. Neidhardt,et al.  Effect of Temperature on In Vivo Protein Synthetic Capacity in Escherichia coli , 1998, Journal of bacteriology.

[44]  N. Markley Principles of differential equations , 2004 .

[45]  Ludovic Mailleret,et al.  OPTIMAL LIFE‐HISTORY STRATEGIES IN SEASONAL CONSUMER‐RESOURCE DYNAMICS , 2011, Evolution; international journal of organic evolution.

[46]  Julio R. Banga,et al.  Optimization in computational systems biology , 2008, BMC Systems Biology.

[47]  Wei Suong Teo,et al.  A Two-Layer Gene Circuit for Decoupling Cell Growth from Metabolite Production. , 2016, Cell systems.

[48]  Ahmad S. Khalil,et al.  Synthetic biology: applications come of age , 2010, Nature Reviews Genetics.

[49]  Hugo A. van den Berg,et al.  Optimal allocation between nutrient uptake and growth in a microbial trichome , 1998 .

[50]  D. Dochain,et al.  On-Line Estimation and Adaptive Control of Bioreactors , 2013 .

[51]  D. Oyarzún,et al.  Dynamic optimization of metabolic networks coupled with gene expression. , 2013, Journal of theoretical biology.

[52]  Johannes Geiselmann,et al.  A synthetic growth switch based on controlled expression of RNA polymerase , 2015, Molecular systems biology.

[53]  M. Chyba,et al.  Singular Trajectories and Their Role in Control Theory , 2003, IEEE Transactions on Automatic Control.

[54]  F. Fages,et al.  Long-term model predictive control of gene expression at the population and single-cell levels , 2012, Proceedings of the National Academy of Sciences.

[55]  U. Sauer,et al.  Systematic evaluation of objective functions for predicting intracellular fluxes in Escherichia coli , 2007, Molecular systems biology.

[56]  Christoph Kaleta,et al.  Optimality principles reveal a complex interplay of intermediate toxicity and kinetic efficiency in the regulation of prokaryotic metabolism , 2017, PLoS Comput. Biol..

[57]  Eva Balsa-Canto,et al.  Dynamic optimization of bioprocesses: efficient and robust numerical strategies. , 2005, Journal of biotechnology.

[58]  X. Zhou,et al.  Stochastic Controls: Hamiltonian Systems and HJB Equations , 1999 .

[59]  C. Hinshelwood,et al.  136. On the chemical kinetics of autosynthetic systems , 1952 .

[60]  P. Swain,et al.  Mechanistic links between cellular trade-offs, gene expression, and growth , 2015, Proceedings of the National Academy of Sciences.

[61]  G. Stephanopoulos,et al.  Metabolic Engineering: Principles And Methodologies , 1998 .

[62]  Diego di Bernardo,et al.  Automatic Control of Gene Expression in Mammalian Cells. , 2016, ACS synthetic biology.

[63]  Yuh-tai Ju SINGULAR OPTIMAL CONTROL , 1980 .

[64]  Tom Ellis,et al.  Sensing the Right Time to Be Productive. , 2016, Cell systems.

[65]  John T. Workman,et al.  Optimal Control Applied to Biological Models , 2007 .

[66]  Johannes Geiselmann,et al.  Resource Reallocation in Bacteria by Reengineering the Gene Expression Machinery. , 2017, Trends in microbiology.

[67]  J. Doyle,et al.  Robust perfect adaptation in bacterial chemotaxis through integral feedback control. , 2000, Proceedings of the National Academy of Sciences of the United States of America.

[68]  Jeffrey J. Tabor,et al.  Optogenetic characterization methods overcome key challenges in synthetic and systems biology. , 2014, Nature chemical biology.

[69]  Michael A. Savageau,et al.  Escherichia coli Habitats, Cell Types, and Molecular Mechanisms of Gene Control , 1983, The American Naturalist.

[70]  Lamberto Cesari,et al.  Optimization-Theory And Applications , 1983 .

[71]  P. Dennis,et al.  Modulation of Chemical Composition and Other Parameters of the Cell at Different Exponential Growth Rates , 2008, EcoSal Plus.

[72]  Domitilla Del Vecchio,et al.  Control theory meets synthetic biology , 2016, Journal of The Royal Society Interface.

[73]  Nikolaos Anesiadis,et al.  Engineering metabolism through dynamic control. , 2015, Current opinion in biotechnology.