“…A fuzzy control algorithm combined with Takagi-Sugeno (T-S) fuzzy model (Pishvaie & Shahrokhi, 2006), a fuzzy gain scheduled control scheme (Regunath & Kadirkamanathan, 2001), a fuzzy self-tuning PI control (Babuska, Oosterhoff, Oudshoorn, & Bruijn, 2002), fuzzy sliding mode control (Shahraz & Boozarjomehry, 2009), fuzzy internal model control (Edgar & Postlethwaite, 2000;Han, Han, & Guo, 2006), neural networks and adaptive controller (Krishnapura & Jutan, 2000), PID controller using linearization through neural networks (Chen & Huang, 2004), a linear internal model controller optimized by a genetic algorithm (Mwembeshia, Kenta, & Salhi, 2004), a multiple model predictive controller based on T-S fuzzy model (He, Cai, & Li, 2005), iterative nonlinear model predictive control (Cueli & Bordons, 2008) and a model-free learning control based on reinforcement learning algorithms (Syafiiea, Tadeoa, & Martinez, 2007) have been reported for pH control. Some other works in this category can be found in the literature (Karr & Gentry, 1993;Loh, Looi, & Fong, 1995;Qin & Borders, 1994).…”