Bioreactor

The bioreactor example is an easy bioreactor with an enzyme-substrate reaction. It has three states and a control that is describing the feed concentration of substrate.

Houska, Boris, Hans Joachim Ferreau, and Moritz Diehl. "ACADO toolkit—An open‐source framework for automatic control and dynamic optimization."
Optimal Control Applications and Methods 32.3 (2011): 298-312.