Saturated PI control of continuous bioreactors with Haldane kinetics

► A saturated OF robust controller for a class of continuous bioreactors is presented. ► The problem is addressed as an interlaced controller-observer design. ► A robust stabilizing linear saturated PI plus antiwindup control scheme is obtained. ► The resulting controller constitutes an add-on to the conventional control schemes. ► Global stability conditions and tuning guidelines for gains and limits are presented.