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

Table 3

Performance criterion results (noisy measurements).

Tuning parameter	𝐼1	𝐼2	𝐼3
𝜃=1	0.06370	0.03392	0.16932
𝜃=2	0.09196	0.02198	0.35544
𝜃=5	0.62471	0.24404	1.59703
𝜃=50	— (divergent)	— (divergent)	—(divergent)