“…Greek letters NH 3 biomass specific growth rate from titrant (g g −1 h −1 ) feed density of feed (g L −1 ) feed accumulated feed (g) Ä NIR factor for NIR signal to biomass concentration (g L −1 /%) NIR biomass (NIR) specific growth rate (h −1 ) NH 3 titrant pump runtime (h) mechanistic model derived from first principles, typically on the basis of basic mass balance and kinetic equations (Axelsson et al, 1988;Eriksen et al, 2001;Cornelissen et al, 2003;Sundström and Enfors, 2008). Estimation methods from control theory, such as extended Kalman observers (Jenzsch et al, 2006a,b) or asymptotic observers, have proved particularly useful (Veloso et al, 2009).…”