@article {25,
	title = {Smooth sliding-mode observers for specific growth rate and substrate from biomass measurement},
	journal = {Journal of Process Control},
	volume = {19},
	year = {2009},
	pages = {1314-1323},
	abstract = {<p>This paper addresses the estimation of specific growth rate and substrate concentration from biomass measurements in fermentation processes. Specifically, sliding-mode observers are proposed, for which finite-time global convergence is demonstrated using Lyapunov stability theory and concepts of variable structure systems. Two observers are developed for specific growth rate estimation, one producing a discontinuous estimation which is used afterwards for substrate estimation, and the other one - based on high-gain observers - that generates a smooth estimation with first-order dynamics and finite-time bounded convergence error. In the case of substrate estimation, an observer that increases the convergence rate to a vicinity of the real substrate concentration while achieving asymptotic convergence despite kinetic model uncertainties in properly excited processes is designed. This observer also exhibits first-order dynamics. {\textcopyright} 2009 Elsevier Ltd. All rights reserved.</p>
},
	url = {http://www.scopus.com/inward/record.url?eid=2-s2.0-70249132897\&partnerID=40\&md5=c62475aecf0ddcdbe3fc78e750190074},
	author = {Pic{\'o}, Jes{\'u}s and De Battista, Hern{\'a}n and Garelli, Fabricio}
}
