Nonlinear robust control of a batch fermentation reactor

A simple nonlinear robust regulator is applied to track a singular optimal reference signal derived for a batch beverage fermentation. The regulator d esign is based on a model of the process that includes the energy balance a nd the mass balances of the biomass, ethanol and the sugars involved in the fermentation. Numerical simulations are carried out to show that the nonli near regulator, computed on the basis of the first approximation of the sys tem, guarantees robust regulation in the presence of parameter variations a nd model uncertainties.