Bioreactor

Bioreactor
State dimension:	1
Differential states:	3
Continuous control functions:	1
Path constraints:	2
Interior point equalities:	3

The bioreactor problem describes an substrate that is converted to a product by the biomass in the reactor. It has three states and a control that is describing the feed concentration of the substrate. The problem is taken from the examples folder of the ACADO toolkit described in: [Houska2011a]The entry doesn't exist yet.

Houska, Boris, Hans Joachim Ferreau, and Moritz Diehl. 
"ACADO toolkit—An open‐source framework for automatic control and dynamic optimization."
Optimal Control Applications and Methods 32.3 (2011): 298-312.

Originally the problem seems to be motivated by: [Versyck1999]The entry doesn't exist yet.

VERSYCK, KARINA J., and JAN F. VAN IMPE. 
"Feed rate optimization for fed-batch bioreactors: From optimal process performance to optimal parameter estimation."
Chemical Engineering Communications 172.1 (1999): 107-124.

Model Formulation

The dynamic model is an ODE model:

$\begin{array}{rcl} \dot{X}&=&-DX+\mu X \\ \dot{S}&=& D(S_{f}-S)-\mu /Y_{xs} X \\ \dot{P}&=&-DP+ (\alpha \mu +\beta) X. \end{array}$

The right-hand side of these equations will be summed up in $f(x, S_f)$.

The three states describe the concentration of the biomass ($X$), the substrate ($S$), and the product ($P$) in the reactor. In steady state the feed and outlet are equal and dilute all three concentrations with a ratio $D$. The biomass grows with a rate $\mu$, while it eats up the substrate with the rate $\mu/Y_{xs}$ and produces product at a rate $(\alpha \mu +\beta)$. The rate $\mu$ is given by:

$\mu = \mu_{m}*(1-P/P_{m})*S/(K_m+S+S^2/K_i)$

The fixed parameters (constants) of the model are as follows.

Parameters

Name	Symbol	Value	Unit
Dilution	$D$	0.15	[-]
Rate coefficient	$K_i$	22	[-]
Rate coefficient	$K_m$	1.2	[-]
Rate coefficient	$P_m$	50	[-]
Substrate to Biomass rate	$Y_{xs}$	0.4	[-]
Linear slope	$\alpha$	2.2	[-]
Linear intercept	$\beta$	0.2	[-]
Maximal growth rate	$\mu_m$	0.48	[-]

Mathematical formulation

Writing shortly for the states in vector notation $x=(X,S,P)^T$ the OCP reads:

$\begin{array}{clcl} \displaystyle \min_{x,S_f} & J(x,S_f)\\[1.5ex] \mbox{s.t.} & \dot{x} & = & f(x,S_f)\\ & x(0) & = & (6.5,12,22)^T \\ & S_f & \in &[28.7,40]. \end{array}$

Objective

$J(x,S_f)=\int_0^{48}D(S_f-P)^2dt$

Reference Solution

Here we present the reference solution of the reimplemented example in the ACADO code generation with matlab. The source code is given in the next section.

• Reference solution
• 

  Optimal solution for the ACADO example.

Source Code

Model descriptions are available in

• ACADO code at Bioreactor (ACADO)