arXiv subjects

Manuel Berenguel

Publications and source records attributed to Manuel Berenguel.

6 recordsLinked to original sources

arXiv2026

From Learning to Control: Data-Driven Multi-Agent Reinforcement Learning for Multivariable Control in a Microalgae Bioprocess

Effective control of bioprocesses is particularly challenging due to the intrinsic nonlinearity and dynamic variability of living-cell systems. In microalgae-based photobioreactors (PBRs), maintaining stable pH and dissolved oxygen (DO) levels is critical for optimal growth and productivity, yet their strong coupling and sensitivity to environmental fluctuations make multivariable control difficult. This study proposes a novel hybrid offline-online Multi-Agent Reinforcement Learning (MARL) framework for simultaneous pH and DO regulation, leveraging Deep Deterministic Policy Gradient (DDPG) agents to achieve a fully data-driven and model-free control solution. The agents are trained using historical data generated by an expert system, eliminating the need for direct experimentation with the environment. After deployment, the agents operate autonomously, continuously fine-tuning their policies daily to adapt to evolving process dynamics and reject fast transient disturbances. Experimental validation in an open, industrial-scale PBR at the University of Almeria demonstrated the framework's capability to maintain stable operation under realistic conditions. The results confirm that model-free MARL control provides a robust and adaptive alternative for complex bioprocess environments.

eess.SY↗

arXiv2026

Unlocking feedforward capabilities in Model Predictive Control algorithms to deal with measurable disturbances

Disturbance rejection is a central objective in process control, particularly when measurable disturbances can be exploited through feedforward action. Although Model Predictive Control (MPC) naturally incorporates disturbance models and prediction capabilities, standard formulations cannot achieve complete disturbance rejection since the cost function penalises control effort. This limitation prevents MPC from reproducing the behaviour of classical feedforward compensators. This work proposes a novel framework to embed true feedforward capabilities within MPC without removing the control effort penalty. The approach introduces a dual-control structure in which two control actions are computed simultaneously: a tracking-oriented action addressing set-point tracking and robustness, and a feedforward-oriented action dedicated to disturbance rejection. Both contributions are combined into a single control signal on which the process constraints are explicitly enforced. The feedforward-oriented action is formulated without penalising control effort, enabling full compensation of measurable disturbances. The methodology is developed for Dynamic Matrix Control (DMC), Generalised Predictive Control (GPC), and state-space MPC. Its effectiveness is demonstrated through simulation studies, including comparisons with standard MPC and classical feedforward schemes. A case study based on a reverse osmosis process shows that the proposed approach improves disturbance rejection while preserving constraint handling and overall control performance.

eess.SY↗

arXiv2025

Enhancing industrial microalgae production through Economic Model Predictive Control

The industrial production of microalgae is an important and sustainable process, but its actual competitiveness is closely related to its optimization. The biological nature of the process hinders this task, mainly due to the high nonlinearity of the process along with its changing nature, features that make its modeling, control and optimization remarkably challenging. This paper presents an economic optimization framework aiming to enhance the operation of such systems. An Economic Model Predictive Controller is proposed, centralizing the decision making and achieving the theoretical optimal operation. Different scenarios with changing climate conditions are presented, and a comparison with the typical, non-optimized industrial process operation is established. The obtained results achieve economic optimization and dynamic stability of the process, while providing some insight into the priorities during process operation at industrial level, and justifying the use of optimal controllers over traditional operation.

eess.SY↗

arXiv2025

A Comprehensive Benchmark Platform for Process Control Research of Outdoor Microalgae Raceway Reactors

This paper presents a benchmarking framework to evaluate process control strategies in outdoor microalgae raceway reactors, integrating four key control regulation tasks: pH, dissolved oxygen (DO), culture volume through coordinated harvest-dilution actions, and temperature via a sump-mounted spiral heat exchanger. The benchmark is built upon a high-fidelity, experimentally calibrated dynamic model that captures the strongly coupled thermal, physicochemical, and biological processes governing industrial-scale open raceway ponds. A closed-loop simulation environment is provided, featuring realistic actuator constraints, gas transport delays, stiff integration, and a fully specified scenario based on multi-day outdoor disturbances (irradiance, temperature, wind, and humidity). Four user-replaceable controllers define the manipulation of CO2 injection, air bubbling, harvest/dilution sequencing, and heat-exchanger operation. The platform computes a unified global performance index, in addition to individual metrics for each control problem, combining tracking error, gas and energy usage, and biomass productivity, enabling consistent and quantitative comparison of alternative control strategies. Baseline regulatory architectures (On/Off, PI/PID, and Economic Model Predictive Control (EMPC)) are included to illustrate the benchmark use for classical and advanced control methods. By providing an openly specified, reproducible, and computationally tractable benchmark with well-defined function interfaces, this work aims to bridge control methodology and outdoor algal bioprocess engineering, and to support the development of multivariable control strategies for disturbance-rich environmental systems.

eess.SY↗

arXiv2025

Reinforcement learning meets bioprocess control through behaviour cloning: Real-world deployment in an industrial photobioreactor

The inherent complexity of living cells as production units creates major challenges for maintaining stable and optimal bioprocess conditions, especially in open Photobioreactors (PBRs) exposed to fluctuating environments. To address this, we propose a Reinforcement Learning (RL) control approach, combined with Behavior Cloning (BC), for pH regulation in open PBR systems. This represents, to the best of our knowledge, the first application of an RL-based control strategy to such a nonlinear and disturbance-prone bioprocess. Our method begins with an offline training stage in which the RL agent learns from trajectories generated by a nominal Proportional-Integral-Derivative (PID) controller, without direct interaction with the real system. This is followed by a daily online fine-tuning phase, enabling adaptation to evolving process dynamics and stronger rejection of fast, transient disturbances. This hybrid offline-online strategy allows deployment of an adaptive control policy capable of handling the inherent nonlinearities and external perturbations in open PBRs. Simulation studies highlight the advantages of our method: the Integral of Absolute Error (IAE) was reduced by 8% compared to PID control and by 5% relative to standard off-policy RL. Moreover, control effort decreased substantially-by 54% compared to PID and 7% compared to standard RL-an important factor for minimizing operational costs. Finally, an 8-day experimental validation under varying environmental conditions confirmed the robustness and reliability of the proposed approach. Overall, this work demonstrates the potential of RL-based methods for bioprocess control and paves the way for their broader application to other nonlinear, disturbance-prone systems.

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arXiv2018

New approach for solar tracking systems based on computer vision, low cost hardware and deep learning

In this work, a new approach for Sun tracking systems is presented. Due to the current system limitations regarding costs and operational problems, a new approach based on low cost, computer vision open hardware and deep learning has been developed. The preliminary tests carried out successfully in Plataforma solar de Almeria (PSA), reveal the great potential and show the new approach as a good alternative to traditional systems. The proposed approach can provide key variables for the Sun tracking system control like cloud movements prediction, block and shadow detection, atmospheric attenuation or measures of concentrated solar radiation, which can improve the control strategies of the system and therefore the system performance.

cs.LG↗