Flexible output regulation designs for nonlinear bioreactors

This article deals with the output regulation of continuous bioreactors in the presence of bounded disturbances and inverse dynamics. Through the steady-state approach, the static nonlinear control can almost attenuate measurable disturbances on the output. From the practical viewpoint, the dynamic actuator constraints and only availability of output signal for use are inevitable. Through the pseudo-steady-state error diagnoses and piece-wise computation procedures, the novel error feedback control scheme ensures the satisfactory output regulation performance in the face of immeasurable disturbances and/or uncertainties.