A New Robust Controller with Applications to Bioreactors

Figure 2

Example 1: (a) output measurement 𝑦_𝑚 [mmol/L] (solid line), desired output 𝑦_𝑑 (dash-dot line), and estimated output 𝑦 (dotted line); (b) tracking error 𝑒 (solid line) and observer error 𝑧 (dash-dot line); (c) control input 𝐷 [day−1].

(a)

(b)

(c)