Kuwait J. Sci. Eng. 38 (1B) pp.

105-125, 2011

Sliding mode controllers for the benchmark bioreactor system

SALEH ALSHAMALI * , MOHAMED ZRIBI * AND AHMED OTEAFY**
* *

Electrical Engineering Department, Kuwait University. P.O. Box 5969, Safat 13060, Kuwait. Email: s.alshamali@ku.edu.kw ** Electrical and Computer Engineering Department, Boise State University. 1910 University Dr., Boise, Idaho 83725, USA.

ABSTRACT
Static, dynamic, and two chatter-free sliding mode control (SMC) schemes are proposed for the bioreactor benchmark problem. A key step in the design is the introduction of a nonlinear transformation that maps the state equations of the bioreactor dynamics into the generalized controller canonical form. The four proposed sliding mode controllers are shown to drive the system trajectories to their desired values, hence ensuring the asymptotic stability of the closed-loop system of the transformed system as well as the original system. The performances of the controlled bioreactor system are simulated using the nominal parameters of the system. In addition, the performances of the system are simulated when the system parameters are perturbed. The simulation results indicate that the proposed controllers asymptotically stabilize the bioreactor system, and that the closed-loop system possesses great insensitivity to parameter variations.

Keywords: Bioreactor system; Lyapunov stability; Nonlinear systems; Sliding

Mode Control.

INTRODUCTION
Chemical processes are known to be highly nonlinear systems that are often dicult to control. An example of such processes is the bioreactor. The control problem of the bioreactor system is quite challenging due to the nonlinearity of the process and its sensitivity to parameter variations. Both can lead to instability or poor performance. The bioreactor is a tank containing water, nutrients, and biological cells; nutrients and cells are introduced into the tank where they mix. The volume in the tank is maintained at a constant level by removing tank contents at a rate equal to the incoming rate; this rate is called the ow rate and it is the variable by which the bioreactor is controlled. The objective of the bioreactor controller is to maintain the amount of cells at a desired level (Ungar, 1990).

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Saleh Alshamali, Mohamed Zribi and Ahmed Oteafy

Several researchers have worked on the control of the bioreactor. Doerschuk and Sarraan (1999) compared conventional controllers to radial-based function controllers for the benchmark bioreactor control problem. Doerschuk et al. (2002) used a hybrid neural network/conventional controller to control the benchmark bioreactor problem. Abu Zitar & Hassoun (1995) designed a neurocontroller for the bioreactor, where the controller is trained with rules extracted from a genetically assisted reinforcement learning system. Agrawal & Lim (1984) analyzed various control schemes for continuous bioreactors. Gorinevsky (1997) used indirect adaptive control with ane radial basis function to control the bioreactor. Zhao & Skogestad (1997) compared several control congurations for continuous bioreactors. Efe & Kaynak (1997) used classical and dynamical neural networks to identify and control a nonlinear bioreactor plant. Efe et al. (1999) proposed a neural network-assisted nonlinear controller for a bioreactor. Also, in a recent work, Efe (2007) proposed a variable structure control technique for a MIMO bioreactor system in which the closed-loop system is insensitive to parameter variations. Ramaswamy et al. (2005) proposed a model-based predictive controller to control the bioreactor to an unstable operating point, and the eect of changing the prediction horizon is analyzed. Derdiyok & Levent (1997) used a conventional sliding mode controller to control the benchmark bioreactor. Tham et al. (2000) proposed a variable structure control technique for a continuous bioreactor. The derivative of the input is used to overcome the chattering eect. Tham et al. (2003) introduced an adaptive sliding mode controller for a continuous bioreactor system. The design is shown to be robust with respect to external disturbances and parameter variations. A sliding mode control technique for the regulation of the bioreactor system is introduced by Fossas et al. (2001), where the sliding surface is designed as a line intersecting the parabola of equilibrium points. Dagci et al. (2001) introduced a three-parameter controller for the bioreactor system based on variable structure control methodology. In this paper, four sliding mode control (SMC) schemes are proposed to control the benchmark bioreactor, including a static SMC, a dynamic SMC, and two sliding mode controllers based on reaching laws with continuous right-hand sides. The proposed sliding mode controllers result in fast responses and are robust to changes in the parameters of the system. The paper is organized as follows: rst, the bioreactor problem is introduced along with a nonlinear transformation that maps the original system into a form which is suitable for control design. Second, a static SMC is presented, followed by a dynamic SMC in the next section. Then, two sliding mode controllers based on continuous reaching laws are presented. Finally, simulation studies of the proposed controllers are presented and discussed, followed by some concluding remarks.

Sliding mode controllers for the benchmark bioreactor system

107

Dynamic model of the bioreactor

The bioreactor benchmark problem set by Ungar (1990) consists of a tank containing water, nutrients and biological cells. Nutrients and cells mix in the tank. The tank's volume is maintained at a constant level through the removal of the contents of the tank at a rate which is equal to the incoming ow rate.

Original model of the bioreactor

The normalized dynamic model of the bioreactor system can be written as (Ungar, 1990; Fossas, 2001):
c t=y _ 1 t c1 tut c1 1 c2 te 2 c c t=y _ 2 t c2 tut c1 t1 c2 te 2 c

1 1  c2 t

where,
c1 t c2 t  ut

: the normalized cell concentration; : the normalized amount of nutrient per unit volume; : the growth rate parameter; : the nutrient inhibition parameter; : the normalized ow rate (control input).

The normalized state variables c1 t and c2 t, and the normalized ow rate ut satisfy the following constraints (Efe et al., 1999; Fossas et al., 2001): 0 < c1 t < 1 0 < c2 t < 1 0 < ut < 2
2 3 4

The objective of the bioreactor control problem is to maintain the normalized cell concentration c1 t at a desired cell concentration level c1d .

Transformed model of the bioreactor

For convenience, the dependence on time is dropped in the following. Dene the vectors c and x such that c c1 c2 T and x1 x2 T . Let the transformation x Tc be such that:

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Saleh Alshamali, Mohamed Zribi and Ahmed Oteafy

x1

ln 1

lnc2

ln

c1 c2

x2

1 c2 1

c1 pec2 =y c2

where,
p

1 1  cz

Taking the time derivatives of Eqs. (5)-(6), and utilizing (7), the dynamic model of the normalized bioreactor system (1) is transformed into the following generalized controller canonical form:
_1 x _2 x

x2 f gu

where
f c1 1 c2 pe
2c
2 =y

1
c2

c1 1 c1 1 p 1 c2 1 c2 1 c2 c2 1  c2 2

and
g c2 ec2 =y 1 c1 1 c1 c1 1 p 1 c2 1 p c1 : y c2 c2 c2 1  C2 2

Assumption: The quantity g is dierent from zero as long as the constraints (2)-(4) hold. Dene the error signals e1 and e2 such that:
e1 e2

x 1 x1d x2 x2d

where x1d and x2d are the desired constant values of x1 and x2 , respectively. It c can be shown thatx1d ln 1d and x2d 0, where c1d is the desired normalized c2d cell concentration and c2d is the normalized amount of nutrient per unit volume at steady state.

Sliding mode controllers for the benchmark bioreactor system

109

Remark 1 The normalized amount of nutrient per unit volume at steady state is
related to the desired cell concentration through the following equation: c2d 1  c2d c1d 1 
10

For the completion of the forthcoming proofs, the following proposition is introduced.
c2 converge to their desired values, respectively.

Proposition 1 If e1 and e2 converge to zero as tends to innity, then x1 ; x2 ; c1 and

Proof From the error equations (9), it is clear that if e1 and e2 converge to zero as t
tends to innity, then x1 and x2 converge to x1d and x2d , respectively. Furthermore, it can be seen from equation (5) that if converges to zero, (i.e.,
e1

x1 x1 d

ln

c1 c2

ln

c1d c2d c1

! 0 ),

then

c1 c2

converges to
c

c1d c2d

. Also, if e1 converges to
c c1

zero, then 1 c2 1 pec2 =y converges to zero. This implies that 1 1 p converges to zero as c2 2 0; 1. Thus, 1 1 p 1 1
c1d c2

implies, after using equation (10), that

c2d 1 c2

. Hence, the fact that 1 1 p converges to zero (or 1 p converges to 1)

c2 c1d

c2

c2 1 c2 c c2

converges to

c2

converges to c2d , and consequently c1 converges to c1d .

c2d 1c2d

converges to 1. Hence, c2

DESIGN OF A STATIC SMC FOR THE BIOREACTOR

Let  and W1 be positive scalars. Dene the sliding surface 1 such that:
1

_ 1 e1 e

c1 p c2 =y c1 c2d 1 c2 1 e ln c2 c2 c1d

x2 ln

c1 c1 ln c2 c2

11

Dene the signum function as:

8 1 if x > 0 > < signx 0 if x 0 > : 1 if x < 0

Proposition 2 The transformed bioreactor system (8) under the discontinuous

sliding mode controller:

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Saleh Alshamali, Mohamed Zribi and Ahmed Oteafy

c1 p c2 =y u f 1 c2 1 e W1 sign1 g c2

12

guarantees the asymptotic convergence of x1 t and x2 t to their desired values. (11), the time derivative of V1 is given by:
_ V 1

Proof: Dene the Lyapunov function candidate V1 1 2 . Using expression 2 1

1  _1

1 e _1 1 e

_ 2 x2 1 x

13
c1 p c =y e2 c2

1 f gu 1 c2 1

Substituting for the control law (12) into (13) yields,

_ V 1

1 W1 sign1

W1 j1 j:
_ , is negative denite. Thus, the system Therefore, since W1 > 0; V 1 trajectories exhibit a nite time reachability to the sliding manifold from any given initial condition. On the sliding surface 1 0, the system dynamics are _ 1 e1 . Since  is a determined by the rst order dierential equation e _ 1 t converge to zero positive scalar, it can be concluded that e1 t and e asymptotically. Therefore, using (8) and (9), it can be concluded that x1 and x2 converge to their desired values. Hence, according to Proposition 1 c1 t, and c2 t converge to their desired values asymptotically. Therefore, the control scheme given by (12) guarantees the asymptotic convergence of the normalized cell concentration and the normalized amount of nutrient per unit volume to their desired values.

It is well known that the static sliding mode controller suers from a chattering problem due to the signum function. The next three sections propose three dierent sliding mode controllers whose objectives are either to attenuate or to eliminate the chattering problem.

DESIGN OF A DYNAMIC SMC FOR THE BIOREACTOR

Sira-Ramirez et al. (1996) proposed the use of a robust redundant feedback controller, based on dynamical sliding mode control, for nonlinear systems for which a smooth feedback control policy is available. Motivated by this work, a dynamic sliding mode controller is designed for the normalized bioreactor. Recall that the model of the bioreactor can be written as

Sliding mode controllers for the benchmark bioreactor system

_1 x _2 x

111
14

x2 f gu:

Let 1 and 2 be properly chosen positive design parameters. It can be shown that the feedback linearization controller:
u
g

1
g

f 1 x2 2 x1 x1d
c2
c2 c1d

1 c1 c1 c2d f 1 1 c2 1 pec2 =y 2 ln

15

guarantees the asymptotic convergence of x1 and x2 to their desired values as t ! 1. Therefore, controller (15) guarantees the asymptotic convergence of c1 and c2 to their desired values as t ! 1. However, feedback linearization controllers are generally not very robust. Hence, a dynamic sliding mode controller is proposed. This controller contains the same terms as the feedback linearization controller (15) plus an additional term which is used for robustness purposes. To this end, let 1 ; 2 , and W2 be a positive scalars, and let the inputdependent switching surface 2 x; u be such that,
2 x; u u

1
g

f 1 x2 2 x1 x1d

16

Proposition 3 The transformed bioreactor system (8) under the dynamic sliding
mode control scheme: u

1
g

f 1 1 c2 1

c1 c1 c2d pec2 =y 2 ln c2 c2 c1d

17

with,
_ 

W2 signu

1
g

f 1 x2 2 x1 x1d

18

guarantees the asymptotic convergence of x1 t and x2 t to their desired values as t ! 1.

Proof: Dene the Lyapunov function candidate V2 122 2 x; u. It can be easily

checked from (16)-(18) that
_ V 2

W2 j2 x; uj

< 0:

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Saleh Alshamali, Mohamed Zribi and Ahmed Oteafy

Therefore, the trajectories associated with the dynamics (16) exhibit a nite time reachability to zero from any given initial condition provided that the constant gain W2 is chosen to be a strictly positive constant. Since 2 x; u is driven to zero in nite time, the output y x1 on the sliding surface (2 x; u 0) is governed, from (14), by the second order dierential equation _ 1 2 x1 x1d 0. Thus, x1 t converges to its desired value, x1d , as t 1 1 x x _ t converges to zero because 1 and 2 are positive tends to innity and x _ 1 t converge asymptotically to zero and thus x2 t scalars. Hence, e1 t and e converges to its desired value x2d 0 as t tends to innity. Therefore, it can be concluded that the dynamic sliding mode controller (17)(18) guarantees the asymptotic convergence of x1 t and x2 t to their desired values as tends to innity. Using Proposition 1, it can be concluded that the trajectories of the original model (1), namely, c1 t and c2 t, are driven asymptotically to their desired values as t ! 1. To eliminate the chattering associated with the static and dynamic sliding mode controllers, we propose two chatter-free SMC schemes.

First chatter-free smc for the bioreactor

The work in this section is motivated by the work in Janardhanan (2006), where a second order sliding mode controller is designed for the benchmark bioreactor system. The design utilizes dierential equations with continuous right-hand side of the form:
 _ t k1 sig x x

19

where sig x jxj signx, with  being such that 0 < rho  0:5, and k is a positive scalar. Besides the nite time convergence of the dierential equation (19), the control law is continuous for systems with relative degree 1. Consider the transformed system (8) with the error signals dened in (9). The error dynamics are given by:
_1 e _2 e

e2

f gu

20

Let 3 be a positive scalar, and dene the sliding surface 3 such that:
3

3 e1 e2 :

21

Taking the time-derivative of 3 t in (21), and using (20) yields

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113

 _ 3 t f 3 e2 gu:

The following proposition proves the asymptotic stability of the closed-loop system.

Proposition 4 The transformed bioreactor system (8) under the continuous sliding
mode control scheme:

1
g

f 3

e2 k1 sig 3

22

guarantees asymptotic convergence of x1 t and x2 t to their desired values as t ! 1.

2 be a Lyapunov function candidate. Taking the time Proof: Let V3 1 2 3
_  f  e gu, derivative of V3 along the trajectories of (20) gives V 3 3 3 2 which after substituting for the control law (22) gives

_ V 3

3 k1 sig 3


k1 3 j3 j k1 j3 j

sign3 :

1j

_ Thus, V 3 is negative denite. Hence, the choice of the controller (22) guarantees that the sliding surface 3 converges to zero in a nite time. Now, the error dynamics on the sliding surface, i.e. 3 0, are given by:

_1 e _2 e

e2 3

e2 :

23

Since 3 is a positive scalar, the second equation of (23) implies that e2 asymptotically converges to zero as t tends to innity. Now, when 3 0, then e2 3 e1 , which implies that e1 converges to 0 as t ! 1. Therefore, it can be concluded that the continuous sliding mode controller (22) guarantees the asymptotic convergence of x1 t and x2 t to their desired values as t tends to innity. Finally, invoking Proposition 1, it shows that the original system trajectories, namely, c1 t and c2 t, converge to their desired values asymptotically as tends to innity.

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Saleh Alshamali, Mohamed Zribi and Ahmed Oteafy

Second chatter-free smc for the bioreactor

In this section, a second chatter-free sliding mode control law is designed for the benchmark biorector system. The design is motivated by the work in Banavar (2006). The design methodology diers from the design of classical sliding mode controllers in that the dynamics of the switching function do not depend on the signmum function. Hence, the proposed control law is continuous. Recall that the error dynamics are given by:
_1 e _2 e

e2

f gu:

24

Let 4 be a positive scalar, and dene the sliding surface 4 such that:
4

4 e1 e2

25

Using equations (24)-(25), the time derivative of 4 t along the trajectories of (24) is given by:
 _4

f 4 e1 gu:

The control law is designed such that the following dynamics are imposed on the sliding surface 4 :
 _4
k2 4 t;


where k2 > 0 and  is chosen such that  _ 4 < 0. The following proposition proves the asymptotic stability of the closed-loop system.

Proposition 5 The transformed bioreactor system (8) under the continuous sliding
mode control scheme: u

1
g

f 4

e2 k2  4

26

guarantees the asymptotic convergence of x1 t and x2 t to their desired values as t tends to innity.
_  tf  e gu, which after substituting for derivative of V4 gives V 4 4 4 2 the control law (26) results in: _ V 4

Proof: Let V4 1 2 t be a Lyapunov function candidate. Taking the time 2 4

1 4 tk2 4 :

Sliding mode controllers for the benchmark bioreactor system

115

_ Therefore, by an appropriate choice of , V 4 is negative denite. Hence, the sliding mode is attained in a nite time. The error dynamics on the sliding surface, i.e. 4 0, are now given by:

_1 e _2 e

e2 4

e2

27

Since 4 is a positive scalar, then the second equation of the error dynamics (27) implies that e2 asymptotically converges to zero as tends to innity. Furthermore, on the sliding surface given by (25), we have e2 4 e1 which implies that e1 converges to 0 as t ! 1. Finally, utilizing Proposition 1, it can be concluded that x1 t; x2 t; c1 t and c2 t converge asymptotically to their desired values.

SIMULATIONS AND DISCUSSION

Simulations and discussion of the four proposed sliding mode controllers are presented. The simulations are carried out using the nominal values of the bioreactor parameters:  0:02 and 0:48. The system trajectories are forced towards the desired point c1 ; c2 0:1207; 0:8801. The initial state values are chosen to lie within 610% of this point (Efe et al., 1999). The performances of the bioreactor system under the four proposed sliding mode controllers are tested for the case when the nominal model parameters are used, and they are tested for the case were both of the parameters of the system are perturbed by 5%. First, consider the nonlinear system (1) with the static sliding mode controller given by (12). The controller parameters are chosen to be 1:5, and W1 2. The controlled system is solved numerically using MATLAB. The simulation results are shown in Fig. 1. It is clear from this gure that the system trajectories c1 t and c1 t converge to their desired values asymptotically. Moreover, the controller is within the required limits, i.e. 0; 2. The simulation of the perturbed system is shown in Fig. 2. It is clear that the perturbation has not aected the performance of the bioreactor. This is true because of the robustness of the controller. Therefore, it can be concluded that the static sliding mode controller asymptotically stabilizes the system even in the presence of perturbation. However, it is clear that this controller suers from chattering. The other controllers are designed to either attenuate or eliminate the chattering problem.

116

Saleh Alshamali, Mohamed Zribi and Ahmed Oteafy

Fig. 1. The states and the controller verses time for the static sliding mode controller.

Fig. 2. The states and the controller verses time for the static sliding
mode controller for the perturbed system.

Sliding mode controllers for the benchmark bioreactor system

117

The bioreactor system (1) is then simulated using the proposed dynamic sliding mode controller given by (17)-(18). The controller parameters are chosen to be 1 3; 2 3 and W2 5. The performance of the dynamic sliding mode controller is shown in Fig. 3. The controller is shown to drive the system trajectories c1 t and c2 t to their desired values. It is clear from the gure that the chattering has been greatly reduced as compared to the results of the static sliding mode controller given by (12). Again, the robustness of the dynamic SMC controller is obvious as shown in Fig. 4 for the case when the system parameters are perturbed by 5%. Therefore, the dynamic sliding mode controller succeeded in stabilizing the bioreactor system under perturbation, and it succeeded in reducing chattering to a great extent.

Fig. 3. The states and the controller verses time for the dynamic
sliding mode controller.

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Saleh Alshamali, Mohamed Zribi and Ahmed Oteafy

Fig. 4. The states and the controller verses time for the dynamic sliding mode
controller for the perturbed system.

Next, the biorector system given by (1) is simulated using the rst chatter-free sliding mode controller given by (22). The controller parameters are 1 k1 1; 3 1 and  . Fig. 5 shows the asymptotic convergence of the 2 closed-loop trajectories to their desired values. The control law results in a smooth convergence of the states c1 t and c2 t, as well as a chatter-free control action. The robustness of the controller is evident from Fig. 6 where the controller response is almost the same as that for the unperturbed case. It is therefore concluded that the rst chatter-free sliding mode controller asymptotically stabilizes the bioreactor system under some variations in the parameters of the system.

Sliding mode controllers for the benchmark bioreactor system

119

Fig 5. The states and the controller verses time for the rst
chatter-free sliding mode controller.

Fig. 6. The states and the controller verses time for the rst chatter-free sliding mode controller for the perturbed system.

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Saleh Alshamali, Mohamed Zribi and Ahmed Oteafy

Finally, the controlled bioreactor system given by (1) is simulated using the second chatter-free sliding mode controller given by (26). The controller 1 parameters are: 4 1; k2 3 and  . The performance of the chatter-free 3 sliding mode controller is depicted in Fig. 7. The gure shows an asymptotic convergence of the state trajectories to their nal destination point. The advantage of using a reaching law with continuous right-hand side is apparent from the obtained chatter-free control trajectory. The robustness of the controller is demonstrated in Fig. 8. Therefore, it is concluded that the second chatter-free sliding mode controller given by (26) stabilizes the closed-loop system asymptotically while eliminating the chattering problem.

Fig. 7. The states and the controller verses time for the second
chatter-free sliding mode controller.

Sliding mode controllers for the benchmark bioreactor system

121

Fig. 8. The states and the controller verses time for the second chatter-free sliding
mode controller for the perturbed system.

Despite the satisfactory performances of all the proposed controllers, a few dierences concerning the convergence and the control actions are outlined. The time responses of the state trajectories exhibit some dierences due to the dierent structures and gains of the control laws. Among the four controlllers, the static and second chatter-free controllers exhibit faster response compared to the other controllers. As far as the control action is concerned, the static sliding mode controller is less desirable due to the chattering eect. The rst chatterfree SMC exerts the least control eort, followed by the dynamic sliding mode controller. A reasonable concern that may arise is the possible discontinuity of the proposed controllers due to the term. Therefore, it is shown in Fig. 9 that the term is bounded, i.e. g, does not tend to zero.
g

1
g

A nal note to mention here is that for all the proposed controllers, the normalized cell concentration c1 , the normalized amount of nutrient c2 per unit volume, and the control action, satisfy the required constraints given by the inequalities (2)-(4).

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Saleh Alshamali, Mohamed Zribi and Ahmed Oteafy

Fig. 9. The plot of the term for the static smc (a), the dynamic smc (b), the rst
chatter-free smc (c), and the second chatter-free smc (d).

CONCLUSION
Four sliding mode control schemes are proposed for the bioreactor benchmark problem. An important step in the design is the introduction of a nonlinear transformation that transforms the original nonlinear system into the generalized controller canonical form. At rst, a static sliding mode controller is shown to drive the system trajectories to their desired point. However, this controller suers from chattering due to the use of the signum function. Then, a redundant dynamic sliding mode controller is introduced. The controller displays reduced chattering in the control action. Finally, two sliding mode controllers which are based on reaching laws with continuous right-hand side are proposed. These two controllers produce a smooth convergence of the system trajectories to their desired values. Furthermore, these two control laws yield chatter-free responses. Asymptotic stability of the closed-loop system is proven for the four proposed controllers.

Sliding mode controllers for the benchmark bioreactor system

123

Simulation results are presented for the proposed controllers. The simulation results indicate that the proposed controllers asymptotically stabilize the bioreactor benchmark system for the case of nominal parameter values, and for the case when the system parameters are perturbed by 5%. Therefore, the proposed sliding mode controllers are insensitive to parameter variations.

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Gorinevsky, D. 1997. Sampled-Data Indirect Adaptive Control of Bioreactor Using Ane Radial
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Ramaswamy, S., Cutright, T. & Qammar, H. 2005. Control of a continuous bioreactor using model
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Sira-Ramirez, H., Lianes-Santiago, O. & Fernandez, N. A. 1996. On the stabilization of nonlinear

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Tham, H. J., Hussain, M. A., & Ramachandran, K. B. 2000. Variable structure control for a
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Tham, H. J., Ramachandran, K. B. & Hussain, M. A. 2003. Sliding mode control for a continuous
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Ungar, L. H. 1990. A Bioreactor Benchmark for Adaptive-Network Based Process Control, Neural

Networks for Control, MIT Press. Zhao, Y. & Skogestad, S. 1997. Comparison of various control congurations for continuous bioreactors. Industrial & Engineering Chemical Research 36: 697-705.

Submitted : Revised : Accepted :

25/1/2010 29/6/2010 27/9/2010

Sliding mode controllers for the benchmark bioreactor system

125

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