Nonlinear Control for Bioprocesses with Model Uncertainties and External Disturbances

Table 4

Total error comparison under normal conditions.

		C1	C2	C3
Total error	a)	0.0063	0.0049	0.0030
	b)	0.1416	0.0062	0.0031

a) Tuned in normal conditions; b) tuned considering the worst situation of 4.1 for C1.