Lambda Tuning the Universal Method for PID Controllers in ...
Figure 6. Dissolved Oxygen (DO) control in a 2-liter bioreactor. The PV is measured as % saturation of the solution. Output of the DO controller goes to a slave flow loop that sparges oxygen (O 2) into the bioreactor and is tuned for Lambda = 20 seconds. CO 2 flows into the reactor to control the pH; however, it also tends to displace the O 2 ...
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