Closed loop identification of transfer function model for unstable bioreactors for tuning PID controllers

Closed loop identification of transfer function model for an unstable bioreactor is proposed based on an optimization method using either a step or a pulse response of PI/PID controlled bioreactor. A simple method is proposed for the initial guesses of the parameters of the first order plus time delay (FOPTD) transfer function model. A PID controller is designed for the identified model. Simulation study on the nonlinear model equations of an unstable bioreactor exhibiting multiple steady-states shows that the PID controller designed on the identified FOPTD model gives a good closed loop response similar to the one designed based on the linearized model from the nonlinear model equations.