Optimal control theory provides an appealing framework for controller analysis and design since it treats very general models and can account for state and manipulated variable directly. Therefore, optimal control theory is an excellent tool for controller design for nonlinear, strongly interacting, and multivariable fermentors that can not be treated with simple multiloop PID controllers. There are a number of references available in the literature which will enable the curious reader to pursue this subject further. References 17 - 19 are suggested.
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