||An adaptive NMPC for a given class of uncertain (bio)systems with transport
phenomena in which the manipulated variable is the velocity is formulated and developed.
A stable distributed parameter estimator is derived, in the Lyapunov sense, and combined
with the NMPC algorithm using the certainty equivalence principle. Stability, for the
combined NMPC with the adaptive law, is guaranteed without increasing significatively the
computational burden through a pointwise constraint that ensures outperforming a robust
control stabilizing law. The design procedure and the resulting performance is illustrated by
simulations in a bioreactor with a Contois kinetics.