Chapter 21

Stability Analysis of Fractional-Order

Chemostat Model with Time Delay

Nor Afiqah Mohd Aris and Siti Suhana Jamaian

Abstract The fractional-order chemostat model that considered time delay is

studied. Fractional-order differential equations have more benefits for the explana-
tion of memory and the hereditary properties of a system. However, fractional-order
differential equations tend to lower the dimensionality of a system. The dimension-
ality can be infinite-dimensional if the time delay is considered in the differential
equation. The stability analysis of the fractional-order chemostat model that consid-
ered time delay is studied to examine the effect of time delay on the behaviour
of the chemostat system. The numerical simulation was conducted to investigate
the fractional-order chemostat model with various values of fractional-order corre-
sponding to different values of time delay. The simulation was performed by using the
modified Adams-type predictor–corrector method. The result shows that the stable
state transformed into an unstable state or a limit cycle at an appropriate time delay
value. As the fractional-order value decreased, a higher value of time delay has to be
considered. Therefore, the suitable time delay value can be appropriately selected to
ensure that the chemostat system’s dynamic behaviour is constantly unstable, which
is appropriate for cell mass growth.

21.1 Introduction

In the past few decades, many researchers have studied improving cell mass produc-
tion in chemical reactors. The chemostat model can understand the mechanism of cell
mass growth in a chemostat [1]. A chemostat is a reactor with stirred and continuous
inflow and outflow to provide efficient mixing. The chemostat design has an inflow
tube for the substrate to flow into the chemostat and an outflow tube for harvesting
the mixture of cell mass and substrate from the chemostat while the volume is kept

N. A. Mohd Aris (B) · S. S. Jamaian

Department of Mathematics and Statistics, Faculty of Applied Sciences and Technology,
Universiti Tun Hussein Onn Malaysia, Pagoh Education Hub, 84600 Pagoh, Johor, Malaysia
S. S. Jamaian
e-mail: suhana@uthm.edu.my

© The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2022 213
A. B. Mustapha et al. (eds.), Proceedings of the 7th International Conference
on the Applications of Science and Mathematics 2021, Springer Proceedings
in Physics 273, https://doi.org/10.1007/978-981-16-8903-1_21
214 N. A. Mohd Aris and S. S. Jamaian

constant. The substrate flows sufficiently rapid to ensure that the culture of the chemo-
stat model keeps continuously growing. The process of the continuous growth of cell
mass occurs in the reactor with the consumption of the substrate at a specific growth
rate. The chemostat model was first introduced by Novick and Szilard [2]. However,
the chemostat model that was wholly derived and only considered a single substrate
and a single microbial was proposed by Herbert, Elsworth and Telling [3].
The microbial kinetics model explains the relationship between cell mass and the
substrate in the chemostat model. Many microbial kinetics models exist, such as the
Monod, Tessier, Moser, Contois and Andrews models [4–7]. The yield coefficient is
a function of the substrate concentration, which can express the cell mass formation.
The yield coefficient can be demonstrated as the cell mass formed per unit mass of the
substrate consumed [8]. Some studies also considered the variable yield coefficient
in investigating the cell mass growth in a chemostat [9, 10]. A model with a variable
yield coefficient is suitable for developing a continuous culture [11].
Most mathematical models of biological systems are based on ordinary differential
equations. However, the behaviour of biological systems mostly has memory effects.
Yet, ordinary differential equations consistently disregard such effects. Therefore,
fractional-order differential equations are used to describe the behaviour of systems.
Furthermore, the fractional-order differential equations also have hereditary proper-
ties and good memory [12, 13]. The capability of fractional-order differential equa-
tions to describe non-linear systems in various fields of study is also advantageous.
However, the practical dimension in fractional-order differential equations for which
the system remains unstable is also one of the crucial problems in this field [14]. The
fractional-order differential equations tend to lower the dimensionality of a system
[15]. Meanwhile, the dimensionality can be infinite-dimensional if the time delay is
considered in the differential equations.
Delay differential equations (DDE) are widely applied in the mathematical
modelling of biological systems such as immunology, neural networks, epidemi-
ology, physiology and population dynamics [16–21]. There are some durations of
hidden processes, which can be related to time delays. Derivatives and unknown
states are evaluated at the exact moment in ordinary differential equations. However,
derivatives and unknown states are estimated at a specific time, depending on the
memory, in delay differential equations [22]. The function values at the previous
time affect the derivatives of the function values at present [23]. Also, Kuang [23]
stated that function values depend on their history, not only on their present state.
Initial conditions and boundary conditions are not sufficient to predict the behaviour
of a system in real-life phenomena. Hence, some knowledge of history or earlier
behaviour is necessary to deal with such complexities.
Delay differential equations have constantly appeared in many studies of the
chemostat system [24–28]. The time delays in substrate recycling in the chemostat
ecosystem always exist and are also influenced by the changes in temperature. The
environment in the chemostat is the crucial factor that affects cell mass growth. The
time delay of the growth appears when the environment changes. The time delay has
biological values since it can alter the solutions of the chemostat system’s dynamics,
and the transient oscillation can be displayed in numerical simulations [29]. A delay
21 Stability Analysis of Fractional-Order … 215

can express the information from the earlier state and provide a history of the system
over the delay interval [−τ , 0] as the initial condition where τ is time delay [14, 30].
These cause delay systems to be infinite dimensions in nature. Sometimes, internal
and external uncertainties in the application, such as time delay, cannot be avoided
and may lead to instability [31]. Delay can be recognised everywhere and is often
encountered in many practical systems such as biology, economics and automatic
control [32]. This study intends to deepen the study of the integer-order chemostat
model with fractional-order theory and consider the time delay due to its broad
applicability. In the next section, methods of this research are discussed in more
detail, where Caputo derivatives and Adams-type predictor–corrector method are
the main focus. Then, the stability analysis of the fractional-order chemostat model
with time delay is discussed.

21.2 Methodology

21.2.1 Caputo Derivatives

The fractional-order differential equations can be defined as the rationalisation of

classical differential equations involving the differentiation and integration of non-
linear order [33]. A fractional-order differential equation has several definition oper-
ators to generalise the notion of differentiation and integration, such as Riemann–
Liouville definitions, Grunwald–Letnikov definitions and many more. Caputo defi-
nitions are more renowned in the related theories and mathematical analysis of
fractional-order differential equations than the others [34, 35]. Here we adopt the
Caputo fractional derivative, which can be defined as
 t
α
Da,t f (t) = (τ − t)n−α−1 f (n) (τ )dτ, n − 1 ≤ α < n (21.1)
a

where n is an integer,  denotes the function of gamma and n − 1 < a < n.

21.2.2 Adams-Type Predictor-Corrector Method

This research adopted the Adams-type predictor–corrector method that was used
by [36] and adjusted by [37] with time delay, which is also known as the modi-
fied Adams-type predictor–corrector method [15, 38]. The predictor formula can be
described as
216 N. A. Mohd Aris and S. S. Jamaian

α−1
 tn+1 1   
k n
yhP (tn+1 ) = y0(k) + b j,n+1 f t j , yh (t j ) (21.2)
k=0
k! (α) j=0

and corrector formula can be determined by

α−1
 tn+1
k
hα  
yh (tn+1 ) = + f tn+1 , yhP (tn+1 )
k=0
k! (α + 2)
hα  n
 
+ a j,n+1 f t j , yh (t j ) , (21.3)
(α + 2) j=0

where h is step size, k is iteration, t is time, α is an order of fractional derivatives,

 is gamma, τ is the time delay, a j,n+1 is corrector weight, and b j,n+1 is predictor
weight. The procedure of the predictor–corrector method for solving fractional-order
differential equations with a time delay can be explained as follows.
(i) Insert the initial condition of the system.
(ii) Define the step size, h.
 yh (tn+1 ) as in Eq. (21.2).
P
(iii) Calculate the
 predictor step,
(iv) Evaluate f tn+1 , yh (tn+1 ) by implementing the predictor value from step
P

(iii).
(v) Calculate the
 corrector  step, yh (tn+1 ) as in Eq. (21.3).
(vi) Evaluate f t j , yh (t j ) by implementing the predictor value from step (v).
(vii) Estimate the error tolerance.
The process predicts and corrects the values repeatedly until the corrected values
become converged [39].

21.3 Results and Discussion

An integer-order chemostat model from [1] is studied. The chemostat model can be
described as
dS N (S)X
= Q S0 − Q S − , (21.4)
dt Y
dX
= Q X 0 − Q X + N (S)X, (21.5)
dt

where X is cell mass concentration, X 0 is initial cell mass concentration, S is the

substrate concentration, S0 is initial substrate concentration, Q is dilution rate, N (S)
21 Stability Analysis of Fractional-Order … 217

is the specific growth rate and Y is yield coefficient. The Monod growth model
depends on the substrate concentration and can be written as,

μS
N (S) = . (21.6)
K +S

where μ is the maximum specific growth rate and K is Monod constant. The variable
yield coefficient can be written as

Y (S) = γ + β S. (21.7)

where γ and β is constant in yield coefficient. In this study, the sterile feed case was
assumed, where the initial concentration of the cell mass is equal to zero, or X 0 = 0.
The chemostat model that considers the Monod growth model and variable yield
coefficient can be written as
d S(t) μS(t)X (t)
= Q(S0 − S(t)) − . (21.8)
dt (k + S(t))(γ + β S(t))
d X (t) μS(t − τ )X (t − τ )
= Q(−X (t)) + (21.9)
dt k + S(t − τ )

where τ is a time delay. The model incorporates delay to represent the delay in the
cell mass concentration, as shown in Eq. (21.9). The integer-order chemostat system
of Eqs. (21.8) and (21.9) is extended to the fractional-order differential equation with
time delay,

d α S(t) μS(t)X (t)

α
= Q(S0 − S(t)) − , (21.10)
dt (k + S(t))(γ + β S(t))
d α X (t) μS(t − τ )X (t − τ )
α
= Q(−X (t)) + . (21.11)
dt k + S(t − τ )

The chemostat systems with time delay are extended to FDEs. This research
intends to deepen the study of the integer-order chemostat model with fractional-
order theory due to its broad applicability. The model incorporated with delay only
occurs in the cell mass concentration, as shown in Eq. (21.11). The parameter values
of the fractional-order chemostat model are provided in Table 21.1.
The simulations of a fractional-order differential equation that considers time
delay are challenging to analyse analytically because of the infinite dimensionality
of the DDE [40]. Numerical solutions play an essential role to study the effect of
time delay on the fractional-order chemostat system.
The numerical solution of a fractional-order chemostat model with time delay was
simulated, and the behaviour of the system was investigated. Figure 21.1 illustrates
218 N. A. Mohd Aris and S. S. Jamaian

Table 21.1 Parameters of

Parameters Values References
chemostat model
k 1.75 [12]
Q 0.02 [12]
μ 0.3 [1]
γ 0.01 [1]
β 5.25 [1]
S0 1 [1]

the effect of time delay on the behaviour of the chemostat system when α = 1. The
phase portrait diagrams of cell mass concentration versus substrate concentration
were plotted for different time delays, which were τ = 1 to τ = 12. The phase portrait
diagrams τ > 12 are not be displayed since the result show the same behaviour as
τ = 12.
From Fig. 21.1a–l, the changes in the running state for α = 1 are shown. It
is observed that the fractional-order chemostat system is in a stable state when
0 < τ ≤ 5, as shown in Fig. 21.1a, e. When the value of time delay increased
over the limit, which is τ = 6, the dynamic behaviour of the chemostat system led to
a limit cycle. The limit cycle then shifts to an unstable state when τ ≥ 7 and being
unchanged. These results demonstrate that the stable state can be transformed into
an unstable state or a limit cycle with a suitable choice of the time delay parameter.
From the publications of Sterman and Ydstie [41] and Douglas and Rippin [42], the
periodic operation or unstable state of chemical reactors to improve reactor perfor-
mance has been a common research subject [43]. The “limit cycle” is also known
as “natural oscillation” in chemical processes. Natural oscillation is mean that the
process parameters are intended to be selected so that a steady input of reactant into
the reactor will produce self-sustained oscillations in its output [1]. The limit cycle
and unstable state are suitable for cell mass production when the reactor’s perfor-
mance is improved. It can be considered that the time delay remains at τ ≥ 6 so that
the chemostat system will always be at an unstable state or limit cycle.
Figure 21.2 depicts the effect of time delay on the behaviour of the chemostat
system when α = 0.95. The phase portrait diagrams of cell mass concentration
against substrate concentration are visualised for different time delay values, which
are τ = 6 to τ = 17. The phase portrait diagrams for τ < 6 and τ ≥ 17 are
not be displayed since the result shows the same behaviour as τ = 6 and τ = 17,
respectively.
The change in the running state of the fractional-order chemostat system for
α = 0.95 is shown in Fig. 21.2. The fractional-order chemostat system showed
different running states for α = 1 and α = 0.95 with different values of time delay.
The fractional-order chemostat system was a limit cycle when τ = 6 as shown in
Fig. 21.1f. However, when α = 0.95, it is revealed, the fractional-order chemostat
system is still at the stable state when τ = 6 which is still stable in range 0 < τ ≤ 11
and changed to the limit cycle when τ = 12. Then, the system switches to an unstable
state when τ ≥ 13. It is reasonable to conclude that the fractional-order chemostat
21 Stability Analysis of Fractional-Order … 219

Fig. 21.1 Phase portrait of chemostat system with α = 1 and a τ = 1, b τ = 2, c τ = 3, d τ = 4,

e τ = 5, f τ = 6, g τ = 7, h τ = 8, i τ = 9, j τ = 10, k τ = 11, l τ = 12
220 N. A. Mohd Aris and S. S. Jamaian

Fig. 21.1 (continued)

21 Stability Analysis of Fractional-Order … 221

Fig. 21.2 Phase portrait of chemostat system with α = 0.95 and a τ = 6, b τ = 7, c τ = 8, d

τ = 9, e τ = 10, f τ = 11, g τ = 12, h τ = 13, i τ = 14, j τ = 15, k τ = 16, lτ = 17
222 N. A. Mohd Aris and S. S. Jamaian

Fig. 21.2 (continued)

21 Stability Analysis of Fractional-Order … 223

system needed a higher value of time delay when the order of the fractional-order
system became smaller. In a real-life application, it can be considered that the time
delay remains at τ ≥ 12 for α = 0.95 so that the fractional-order of the chemostat
system will always be at the unstable state.
Figure 21.3 depicts the effect of time delay on the behaviour of the chemostat
system when α = 0.9. The phase portrait diagrams of cell mass concentration versus
substrate concentration are plotted for varied time delay, which is τ = 13 to τ = 24.
The phase portrait diagrams for τ < 13 and τ > 24 are not be displayed since the
result shows the same behaviour as τ = 13 and τ = 24, respectively.
From Fig. 21.3, the change in the running state for α = 0.9 is shown. It is observed
that the fractional-order chemostat system is at a stable state when 0 < τ ≤ 20.
Meanwhile, the dynamic behaviour of the fractional-order chemostat system changed
to the limit cycle when the value of the time delay is increased to τ = 21. Then, the
system switches to an unstable state when τ ≥ 22. In a real-life application, it can
be considered that the time delay remains at τ ≤ 21 for α = 0.9 so that the dynamic
behaviour of the chemostat system will always be unstable and hence is suitable for
the production of cell mass. A summary of the observation for different values of α
and the time delay is presented in Table 21.2.

21.4 Conclusion

The stability analysis of the fractional-order chemostat model with various time delay
values has been conducted with different values of the order of the fractional-order
system, which were α = 1, α = 0.95 and α = 0.9. As the evidence from the phase
portrait plots, it has been demonstrated that a stable state could be transformed into
an unstable state or a limit cycle with a suitable choice of time delay value. Based on
the facts in [43], the limit cycle or unstable state is ideal for producing the cell mass.
Thus, the stability analysis is required to determine the suitable time delay value for
the limit cycle and unstable state. It also can be concluded that when the order value
of the fractional chemostat system became smaller, a higher value of the time delay
has to be considered.
224 N. A. Mohd Aris and S. S. Jamaian

Fig. 21.3 Phase portrait of chemostat system with α = 0.9 and a τ = 13, b τ = 14, c τ = 15, d
τ = 16, e τ = 17, f τ = 18, g τ = 19, h τ = 20, i τ = 21, j τ = 22, k τ = 23, l τ = 24
21 Stability Analysis of Fractional-Order … 225

Fig. 21.3 (continued)

226 N. A. Mohd Aris and S. S. Jamaian

Table 21.2 Summary of

α τ Observation Figure
observation
1 0<τ ≤5 Stable 21.1a–e
τ =6 Limit cycle 21.1f
τ ≥7 Unstable 21.1g–l
0.95 0 < τ ≤ 11 Stable 21.2a–f
τ = 12 Limit cycle 21.2g
τ ≥ 13 Unstable 21.2h–l
0.9 0 < τ ≤ 20 Stable 21.3a–h
τ = 21 Limit cycle 21.3i
τ ≥ 22 Unstable 21.3j–l

Acknowledgements We would like to express our gratitude sincere for the financial support by
the Universiti Tun Hussein Onn Malaysia through the grant H426.

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