Robust compensator control of continuous fermentation processes

The paper deals with the robust compensator control of continuous fermentation processes described by a set of three non-linear differential equations. For the design purposes the non-linear model is transformed into linear one with interval parameters. Robust state space compensator is designed by the internal model principle, which ensures robust step-wise set points asymptotic tracking and external disturbances rejection in the wide working range. The effectiveness of the algorithm designed is performed by computer simulation experiments. An important feature of the proposed algorithms is their robustness over parameter uncertainties in the process models.