Tuning and Retuning of PID Controller for Unstable Systems Using Evolutionary Algorithm

Table 4

Steady state solutions of the bioreactor.

Biomass concentration (𝑋1); g/lit	Substrate concentration (𝑋2); g/lit	System condition	Equilibrium	Initial arbitrary value for modelling
				𝑋1	𝑋2
0	4.0	Stable	Trivial	0	1
0.9951	1.5122	Unstable	Nontrivial	0.125	1
1.5302	0.1746	Stable	Nontrivial	1	1