Bioprocess Engineering 21 (1999) 141149 Springer-Verlag 1999
Neural network predictive control by MIMS monitored 2,3-butanediol
fermentation by Klebsiella oxytoca
Mei-J. Syu, Cheng-L. Hou
Abstract With the aid of a membrane introduction mass
spectrometer (MIMS), the major product 2,3-butanediol
(2,3-BDL) as well as the other metabolites from the fer-
mentation carried by Klebsiella oxytoca can be measured
on-line simultaneously. A backpropagation neural net-
work (BPN) being recognized with superior mapping
ability was applied to this control study. This neural net- However, these two measurements were not used in this
work adaptive control differs from those conventional
controls for fermentation systems in which the measure-
ments of cell mass and glucose are not included in the
network model. It is only the measured product concen-
trations from the MIMS that are involved. Oxygen com-
position was chosen to be the control variable for this
fermentation system. Oxygen composition was directly
correlated to the measured product concentrations in the
controller model. A two-dimensional (number of input
nodes by number of data sets) moving window for on-line,
dynamic learning of this fermentation system was applied.
The input nodes of the network were also properly se-
lected. Number of the training data sets for obtaining
better control results was also determined empirically.
Two control structures for this 2,3-BDL fermentation are
discussed and compared in this work. The effect from
adding time delay element to the network controller was
also investigated.
1
Introduction
2,3-Butanediol (2,3-BDL), the major product of the fer-
mentation by Klebsiella oxytoca, is produced at an optimal
fractional yield under a partially anaerobic condition [1].
Besides of 2,3-BDL, there are other metabolites such as
acetate, ethanol, and acetoin secrete as the end products
from this fermentation. The on-line measurement of the
four products, acetic acid, acetoin, ethanol, and 2,3-BDL,
was performed by a mass spectrometer modied by the
insertion of a membrane probe [2]. The major metabolic
pathway of this fermentation was shown in our previous
work [3]. The distribution of product formation during
Received: 27 August 1998
Mei-J. Syu (&), Cheng-L. Hou
Department of Chemical Engineering,
National Cheng Kung University,
Tainan, Taiwan 70101, R.O.C.
141
2,3-BDL fermentation can be governed by the amount of
supplied oxygen. Therefore, we correlated the measured
product concentrations directly to the oxygen supply. Such
an approach is somewhat different from the conventional
methods. In general, glucose and cell mass are two im-
portant measurements for fermentation related studies.
study. Only the measured data from the MIMS were re-
quired so that the on-line system can be established. The
dissolved oxygen (DO) in the fermentation broth this re-
ects the oxygen availability to the cells and hence also
affects the secretion of metabolites. The DO can be regu-
lated by oxygen partial pressure (or oxygen composition)
as well as aeration rate. Therefore, to control the level of
DO in the fermentation broth this can be regulated by
either oxygen composition or aeration rate or both. In this
study, oxygen composition was chosen as the control input
variable. To regulate the oxygen composition by adjusting
the proportion of O2 and N2, larger range of variation
(0100%) can be obtained. If to control the DO by aeration
rate, the oxygen composition can only be varied from
021%. Since larger variation range for the control variable
is easier for observing the control effect, we thus chose
oxygen composition instead of aeration rate.
It is rather difcult to nd a proper model for the entire
course of a fermentation process. Instead of a static model,
dynamic identication with adaptively adjusted parame-
ters was applied to the control system of this fermentation.
The purpose of system identication is to search for a
model which correlates the output (response) of a system
to the control input command [4]. The control system can
then be performed by combining the process model from
system identication with the controller model. Therefore,
a precise process model (or system identication) and a
good controller model (control law) are two major com-
ponents for a control system. In general, the model from
system identication is combined with the controller
model to become a control system so that the future
control input command can thus be predicted. However,
the process model can also be merged with the controller
model to become only one model for a control system.
This model can be switched between the process model
and the controller model alternatively during the control
process. An inverse-type process model has been applied
to adaptively identify a time-invariant nonlinear system
with unknown dynamics. The same inverse model was also
used as the controller for the system. However, the above
approaches were not used in the control system of this
study. Instead, we used two other control mechanisms that
 Bioprocess Engineering 21 (1999)

will be described later in this article for this fermentation. command. In general, the proposed control can be
The identication and control of this fermentation was expressed as;
constructed so that the supplied oxygen composition was
only related to the measured product concentrations. ui f xi ; ui1 ; xdi1 ; 1
Backpropagation neural network was chosen to be the where ui is the predicted control input command with
method for the identication and control of this fermen- respect to xdi1 , the measured (or desired) x at time i+1;
tation system. The ability of neural networks on identify- xi xim ; . . . ; xi1 ; xi , the array of the measured system
ing bioprocesses has been demonstrated in previous work output (or response) up to time i; ui1 uin ; . . . ; ui1 ,
[3]. Hence, neural network dynamic identication and the array of the control input command up to time i. It
control would be further tested by the MIMS on-line should be noted that xi and ui1 may not be of the same
acquired fermentation data in this work. dimension.
142
Once a desired output is given, the control input com-
2 mand with respect to this desired output can then be
Backpropagation neural network computed in a straightforward manner. The neural net-
Backpropagation neural network (BPN) is a feedforward work prediction/control for this fermentation is thus
network with backward learning. It can identify different expressed in a general form as follows:
systems of different nonlinear characteristics with very
ui f ui 2; ui 1; Pi 1; Pi; P4 i 1 ;
high precision. BPN computation mainly includes two
phases; forward transferring of incoming information 2
during the rst phase and backward learning during the
where u(i) is the predicted oxygen composition with re-
second phase. The network computation is proceeded al-
spect to the measured data at time i + 1. u(i)2) and u(i)1)
ternatively between these two phases. Not only the theo-
are the oxygen composition supplied to the system at time
rem of backpropagation network was thoroughly studied,
i)1 and i, respectively. P(i) (Pj(i)), the array of the
there are also plenty of reports on applying backpropa-
selected measured product concentrations at time i, and
gation neural networks for different purposes of different
the notation j can be varied from 1 to 4. P(i)1) is dened
systems. Nevertheless, all the applications usually count on
as the array of the selected product concentrations from
its precise mapping ability. Glassey et al. [5] based ex-
the measurements at time i)1 accordingly. P4(i + 1) is the
periments on neural networks to carry out the design
2,3-BDL concentration measured at time i + 1, which, in
procedures for fermentation processes. Hence, the fer-
turn, will be the desired 2,3-BDL concentration (the target
mentation especially of the recombinant system was ef-
output) for the controller model.
ciently optimized through such a technique. Khalid et al.
Neural newtorks with adaptive learning ability in its
[6] applied neural network as an adaptive controller to
connecting weights can identify the correlation of desired
solve control problems. The neural network control results
system variables of different nonlinear systems. It was also
were compared to three other control algorithms: fuzzy
used as the controller for the study of this Klebsiella
logic control, generalized predictive control, and PID
oxytoca fermentation system. Neural networks have been
control. Backpropagation network was also applied to
applied to control different systems. Most systems being
texture analysis [7]. The analysis of variances by using
studied are robotic systems of purely physical response
neural networks for defect detection of texture surfaces
without chemical reaction. Although the nonlinearity of
can be made. Texture classication was also studied.
these systems may not be as high as those with chemical or
Backpropagation of neural network combined with fuzzy
biochemical reactions. Narendra and Mukhopadhyay [11]
sets and graph theories were used for the detection and
discussed the adaptive control of nonlinear multivariable
diagnosis of faults during process operation [8]. Assess-
systems by using backpropagation neural networks. Based
ment of potential hazards and operability problems in
on a backpropagation neural newtork, Khalid et al. [12]
design from these approaches were also discussed. The
provided a multilayered neural network control scheme on
backpropagation neural network with momentum term for
a MIMO control system of furnace. Yang and Linkens [13]
learning was analyzed [9]. The result is the conclusion that
used neural networks to control a CSTR with slow dy-
all the local minima of the sum of least square errors is
namics. Venugopal et al. [14] also presented an improved
stable. The transfer functions x=1 jxj and
direct control architecture for the backpropagation neural
sgn x
x2 =1 x2 were proposed in our previous work
network on-line adaptive control of dynamic systems. Syu
[3] for backpropagation neural network study and signi-
and Chang [15] provided a recurrent backpropagation
cant results were achieved.
neural network for studying the dynamic control of the
penicillin acylase fermentation. Boskovic and Narendra
3 [16] also proposed a neural network controller for the fed-
Dynamic identification and control batch fermentation process. The control results from the
BPN was used to develop the dynamic identication/con- network controller were compared with the other four
trol system for this fermentation process. Prediction ca- different types of linear and nonlinear controllers and
pability performed by the neural networks has been better performance was concluded from the network
demonstrated10, which is a very important issue for con- controller. Oin et al. [17] used supervised network as a
trol. As a result, the BPN for identication/control was controller to the fermentation process which was carried
designed with the ability to predict the future control input by Bacillus thuringiensis.
M-J. Syu, C-L. Hou: Neural network predictive control by MIMS
In this work, neural networks provided a dynamic
learning and prediction process that moved along the time
sequence batchwise. In other words, a scheme of two-
dimensional moving window (number of input nodes by
the number of training data) was proposed for reading in
new data while forgetting part of the old data. Training
data provided in such a mode can save computation time
by removing previous unnecessary data while carrying out
the on-line control system. At the same time. precise
identication of the system characteristics most closest to
the next control point must be satised. Therefore, the
control action can be efciently predicted from the net-
work controller and sent to the system in time. When the
control time is not yet due, the neural network process
model reads in a certain amount of data and is then
trained to obtain precise mapping of the system behavior.
During the control phase, the network controller predicts a
control action. By switching between the learning phase
and the predicting phase, the control system can thus be
proceeded.
4 Gas mixer
Materials and methods
4.1
Membrane introduction mass spectrometry (MIMS)
The MIMS included a Finnigan TSQ mass spectrometer
modied by the insertion of a dimethylvinylsilicone
polymer membrane probe, data acquisition system, and
control. It can allow the selective passing and monitoring
of four major products, acetic acid, ethanol, acetoin, and
2,3-BDL from the fermentation of Klebsiella oxytoca. The
Finnigan TSQ mass spectrometer included INCOS data
acquisition. The INCOS system was connected to a PC
which controlled the ow injection device, the gas mixer
and the chemical ionization (CI) reagent gas line valve of
the MIMS. A tangential ow device, a lter acquisition
module, and a ow injection analysis unit were also in-
cluded in the whole on-line monitoring system.
A tangential ow device was used to circulate the fer-
mentation broth which was free from cell mass. The l-
tered broth was injected and transferred to the MIMS
through a lter acquisition module (FAM, Waters, Milford,
MA). The other main component of the FAM was a six-
port HPLC sampling valve (Rheodyne, Berkeley, CA). In
the FAM, a 250 ll loop was lled with ltered sample broth
or standard, which was controlled by a switching valve.
The sample broth or standard was then injected into a
constantly owing water stream by which the plug ow
was transported to the membrane probe. The extra cell-
free broth was pumped back to the fermentor. The broth
circulation rate was maintained at about 1.0 ml/min. The
FAM was to control the alternative transportation of the
injected sample and the standard solution to the mem-
brane probe through a switching valve. The standard so-
lution was made of 1:0 g=l acetic acid, 0:5 g=l acetoin,
0:5 g=l ethanol, and 2:0 g=l 2,3-BDL.
A ow injection analysis (FIA) device was used to
control the sampling schedule of the FAM to deliver the
sample and/or standard solution to the membrane probe.
Within the FIA module was an arrangement of valves that
prevented standard solutions from entering the return line
to the fermentor. In addition, in the FIA module was the
necessary ow network to carry out reactions of the
sample stream with a reagent stream for derivation,
acidication or dilution. The sampling schedule was pre-
cisely controlled to load and inject samples and standards
alternatively. The schedule was arranged as: load sample
! inject sample ! load standard ! inject standard.
4.2
MIMS/Fermentation system
143
The set-up of the whole MIMS/fermentation system is
shown in Fig. 1. A 2 l fermentor (Microgen, New Bruns-
wick Scientic, Edison, NJ) was controlled at the agitation
speed of 600 rpm. During the fermentation, temperature
and pH were controlled at 37 C and 5.7, respectively. Air
was supplied to the fermentor through a 0.2 lm m air lter
disk. A 10%(v/v) antifoam solution, polydimethylsiloxane
was added to the fermentor as needed.
4.3
A gas mixer was constructed for the control of inlet gas
ow rate and gas composition by mixing N2 and air. The
main components of this unit were two mass ow con-
trollers (Model 1259 C, MKS Instruments, Andover, MA).
Each ow controller consisted of an accurate mass ow
meter coupled to a control valve. It can receive an input
signal of 010 V which was linearly equivalent to the ow
rates of 04/3 vvm. Inlet gas ow rate can be varied by
providing different voltages to each mass ow controller.
The composition of the inlet gas was regulated as well.
The oxygen composition was controlled by a D/A board,
DDA-06 (MetaByte Corp., Taunton, MA). The D/A board
was inserted in Keithley 500 A control unit. DDA-06 has
the specication of 6 independent, equal-function chan-
nels; and 12-bit resolution. The output range was selected
as 010 V, which was the full input range for adjusting the
N2 and air ports on the gas mixer. The correlation of
voltage and oxygen composition from DDA-06 board must
be precisely calibrated with the supplied calibration/in-
stallation program before use. With this on-line system,
the oxygen composition control input command can thus
be computed according to the control algorithm. The ox-
ygen composition control input command was then con-
verted to the voltage mode through DDA-06 and sent to
adjust the gas mixer.
4.4
Microorganism
The bacterial cell line used in this work was Klebsiella
oxytoca (ATCC 13882). The cells were kept at )60 C in a
10% glycerol based medium. They were grown on agar
slants with 10 g=l glucose.
4.5
Growth medium and inoculum
K. oxytoca was cultured on PA medium added with trace
metals [18]. Glucose was used as the only limiting sub-
strate. 5 ml of the concentrated 200x solution of trace
metals was added per liter of the PA medium. The culture
 Bioprocess Engineering 21 (1999)
144
Fig. 1. The MIMS on-line monitored 2,3-BDL fermentation
system
broth was incubated at 37 C with the shaker's speed of
220 rpm in a oor shaker (Model G24, New Brunswick
Scientic, Edison, NJ). The cells were pre-cultivated twice
and lasted about 10 hours for each pre-culture before in-
oculated into the fermentor so that the cells can be adapted
to the fermentation environment within a short time.
4.6
Cell mass and glucose measurements
A spectrophotometer (Coleman model 55, Perkin-Elmer,
Maywood, IL) was used to measure the absorbance of the
samples at a wavelength of 540 nm. Dry cell weight is di-
rectly proportional to absorbance in the range of 00.3.
The correlation was found to be 0.32 g dry cell weight per
unit absorbance. Samples were analyzed for glucose by a
glucose analyzer (model 27, YSI Company, Inc., Yellow
Springs, OH). The instrument was calibrated with a stan-
dard glucose solution with the concentration of 2:0 g=l.
Sample readings in the unit of mg/dl were available di-
rectly from the digital recording on the instrument.
5
Results and discussion
5.1
MIMS on-line monitoring fermentation data
Four major products of this fermentation, ethanol, acetic
acid, acetoin, and 2,3-BDL can be measured on-line from
the mass spectrometer modied by the insertion of a
membrane probe. The schedule for each measurement
from the FIA/MIMS device required approximately 6
minutes. The measured data acquired from a batch of
M-J. Syu, C-L. Hou: Neural network predictive control by MIMS
Fig. 2ad. The MIMS on-line measured fermentation data.
a acetic acid, b acetoin, c ethanol, d 2,3-butanediol
fermentation is shown in Fig. 2. As a primary metabolite,
acetic acid was the rst compound secreted from the cells
accompanied by acetoin. As secondary metabolites, etha-
nol and 2,3-BDL were secreted afterwards. The major
metabolic pathway has been shown in our previous work3.
Ethanol can reach higher concentration at a condition of
extremely insufcient supply of oxygen while 2,3-BDL can
be produced at a moderate low oxygen supply. Among
these four products, 2,3-BDL was the one formed with
higher concentration range.
The on-line measured fermentation data from the
MIMS were further smoothed. To smooth the experimental
data it was necessary to remove the experimental errors. In
this way, the computation results can be observed for the
computation effect. Without such a pretreatment proce-
dure, it was difcult to judge and discuss the computation
performance. The network can achieve very good mapping
results even under the existence of experimental errors.
This study does not emphasize on the demonstration of its
ability on fault tolerance, instead, computation efciency
is the major concern. Especially, the ability of fault toler-
ance by the neural networks had been tested in our pre-
vious study. As a result, the smooth procedure is required.
145
5.2
Neural network dynamic identification/prediction
The prediction and control of a fermentation always refer
cell mass (and/or products) to glucose (and/or oxygen).
However, it has never, as this neural network study did,
directly related products to oxygen composition without
providing data on cell mass as in other literature. There
can be two phases for this predicted control; during the
rst phase, the neural network was learning, until a criteria
was met, then, the prediction phase for control was swit-
ched on with the learned network from the rst phase.
These two phases were thus proceeded alternatively along
the time course. Studies on the predicted control of this
fermentation were tested by a pre-designed oxygen
schedule. The oxygen supply was designed to be in a de-
creasing schedule. The policy for determining the schedule
of oxygen supply was from the estimation of metabolic
activities and pathway at different phases. The major
product 2,3-BDL was secreted at a moderate oxygen sup-
ply. At the beginning of the fermentation, the cells require
sufcient oxygen supply to activate their growth. There-
fore, the oxygen composition should be regulated higher
in order to achieve better growth of cells and higher cell
 Bioprocess Engineering 21 (1999)
density. At the production phase, to stimulate the forma-
tion of the secondary metabolite 2,3-BDL, oxygen com-
position was regulated decreasingly. The fermentation
experiment was carried out with a predetermined oxygen
supply schedule, therefore, the success of this neural net-
work of predicted control further implies the feasibility of
the neural network control with this oxygen input sched-
ule.
The moving mode of dynamic identication and pre-
diction is applied in this work. In each training of the
neural network for precise identication, several data sets
146
were provided as a training batch. When the training was
nished, then the learned network was used to predict the
output node which is the control input command to the
on-line fermentation system for next control interval. For
next training, in order to keep a xed and efcient com-
putation time, instead of a convergence criterion, the
training number was set to be the same. Each prediction
was switched on after the training of the data sets. The
neural network with input nodes including the informa-
tion related to the current time and previous times as
appeared in our previous work3 was used in this study.
The response of product formation to the regulation of
oxygen composition was also slow. Concluded from the
above, time delay can be expected to exist in a fermenta-
tion system. Hence, the neural network should include the
measurements of the previous times. Three different types
of transfer functions were chosen for studies. They were all
of sigmoid shape but with different degrees of nonlinear-
ity. The nonlinearity is 2=1 ex 1 >sgnx
x2 =1
x2 > x=1 jxj. Both the functions of x=1 jxj and
sgnx
x2 =1 x2 were proposed and have been suc-
cessfully performed in previous work. The input nodes
including the information from time t)1 was used at the
initial stage of this study as a primary result from previous
work.
The input nodes were studied from using different
transfer functions. The results are shown in Figs. 3(a)(c).
It can be concluded from these gures that to include both
the time delay and the oxygen control variable in the
network nodes did not improve much of the results on the
prediction of next oxygen control command from the
transfer function of either sgnx
x2 =1 x2 or 2=1
ex 1. However, the prediction results were rather dif-
ferent from the function of x=1 jxj. If both gures were
examined, it can be found that the error growing behavior
were all similar. At rst, the errors maintained small,
starting from different times, the errors grew fast. The best
result obtained from the function of x=1 jxj as shown
in Fig. 3(b) was caused from the time for fast growth of
Fig. 3ac. The comparison of predictive control results per-
formed by different transfer functions. Input nodes of (BDL(t)),
(BDL(t), BDL(t)1)), and (BDL(t), BDL(t)1), O2(t)) were used
respectively for this study
M-J. Syu, C-L. Hou: Neural network predictive control by MIMS

error was behind the others. In Fig. 3(a), obviously, the

prediction is better from the network with time delay.
Furthermore, with time delay and oxygen composition in
the network, best prediction can be achieved. More pre-
cisely stated, best results were obtained from the network
with the input nodes including the measurements of cur-
rent time and previous time, and current oxygen com-
mand. Nevertheless, still slightly better prediction of
oxygen can be observed from the networks with current
and previous measurements and functions of
2=1 ex 1 and sgnx
x2 =1 x2 as shown in
147
Figs. 3(b) and 3(c). However, the inclusion of current
oxygen command in the inputs did not come to a precise
conclusion from both cases. With the function of
2=1 ex 1, prediction errors of below 5% were per-
formed from the network up to 7.15 h. The prediction
error increased very fast afterwards. With the function of
x=1 jxj, best prediction results can be achieved and the Fig. 5. The second neural network control system
prediction was still available till 8.15 h which was near the
end of the fermentation. Hence, with the function of
x=1 jxj, more precise prediction can be obtained for a put node of the controller and the input node of the
longer period of time during a fermentation. process model were coincident. Two networks of three
layers were thus combined into a ve-layer network.
5.3 The optimal network parameters for each control
Neural network predictive control schemes scheme were searched. These two schemes were then used
Two control structures were considered for the neural to proceed the predictive control. Both results from the
network control of this fermentation. The control struc- two schemes were compared in Figs. 6(a) and 6(b). The
tures are shown in Figs. 4 and 5. In Fig. 4, there are two gures show the results by comparing the predictive
neural networks in the control system; one as the process control effects from both control systems with (BDL(t),
model, and the other as the controller. Both networks were BDL(t)1), BDL(t)2)) as the input nodes of the networks.
operated in a dynamic mode. The deviation of 2,3-BDL It is from the rst control mechanism that better predic-
concentration measured from the plant and predicted tion of the controllable oxygen can be obtained. The pre-
from the output node of the network process model was diction errors from the second control mechanism
used to train both the model and the controller. The model gradually increased and could not maintain for a longer
and the controller were inverse to each other. The network period of time during the fermentation. As a result, we can
process model contained oxygen as the input and 2,3-BDL conclude that the rst control mechanism can achieve
as the output while the network controller contained the better prediction performance than the second one. Sig-
input and output nodes in a reverse mode. In Fig. 5, the nicant better prediction was obtained by using two net-
control system can be regarded as to merge the two neural works for the control system. It can be explained that the
networks in Fig. 4 into only one network but of more uctuation effect of the second control structure might be
layers. For instance, a 1-3-1 network process model and a due to the more layers system existing in this single net-
1-3-1 network controller were now merged to become a work. During the network backward learning phase, when
1-3-1-3-1 neural network control system. Hence, the out- the error was propagated back through the network, the
errors were distributed and a distorted error might be
caused. In that case, more layers would lead to more dis-
tributed errors, in other words, more local solutions ex-
isted. The worse prediction results of the second control
mechanism can thus come forth.

Fig. 4. The rst neural network control system
5.4
Number of data sets in a training batch
The second network control scheme was used to study the
effect of the number of training data sets on the prediction
results during the dynamic learning phase. 5, 10, and 15
data sets respectively as a training batch were chosen for
this study with the results shown in Figs. 7(a) and 7(b). It
seems that the number of data sets contained in each
training batch did not show much difference in the pre-
diction performance. However, with 5 data sets, the results
seem slightly better. Hence, we may conclude that the
number of training data sets did not have signicant effect
 Bioprocess Engineering 21 (1999)

148

Fig. 6a,b. Comparison of the predictive control results from both

neural network control mechanisms. a predicted oxygen
control schedule, b prediction error

Fig. 7a,b. Comparison of the control results by different numbers

of training data sets; 5, 10, and 15 were used for this study.
a predicted oxygen control schedule, b prediction error

that only the information of 2,3-BDL which is the major

on the prediction. This conclusion is different from that in
our previous work. Therefore, the importance of the end product was required by such a neural network pre-
number of data sets in each training batch can depend on diction. The other product such as acetoin which is re-
the practical system. 5 data sets were chosen from the quired for the formation of 2,3-BDL was initially
consideration of on-line computation efciency. considered to be a helpful information to the network
prediction. Nevertheless, the results showed that the in-
6 clusion of acetoin in the input nodes of the network
Conclusions controller gave no improvement on the prediction effect.
The dynamic predictive control of 2,3-BDL fermentation Meanwhile, the prediction referred only products directly
was successfully performed by the neural networks. The to oxygen control command. As a result, the measure-
transfer functions of x=1 jxj, 2=1 ex 1, and ments of other quantities such as cell mass and glucose
sgnx
x2 =1 x2 were compared. Best results can be were no more necessary. The fermentation is often a sys-
achieved from the function of x=1 jxj. MIMS has tem with time delay. The input nodes of the network in-
successfully carried out on-line monitoring of four major clude the data from time t, t)1, and t)2 was determined
products of this fermentation. However, the study revealed from this study. In the study, the previous time of t)2 was
M-J. Syu, C-L. Hou: Neural network predictive control by MIMS
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with only one merged network, for this fermentation
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showed that the control system operated by the scheme
with two networks, the performance was comparably
better than the system of only one neural network. The two
networks were used as process model and controller
model, respectively. The number of data sets in each
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the predictive control results.
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