Enzymatic Synthesis of Ampicillin: Nonlinear Modeling, Kinetics Estimation, and Adaptive Control

Table 2

Performance criterion results (free-noise data).

Tuning parameter	𝐼1	𝐼2	𝐼3
𝜃=1	0.01029	0.03230	0.08333
𝜃=2	0.00321	0.01789	0.03768
𝜃=5	0.00225	0.00849	0.01124
𝜃=50	0.00039	0.00052	0.00126