Robust Perfect Adaptation in Biomolecular Reaction Networks

For control in biomolecular systems, the most basic objective of maintaining a small error in a target variable, say the expression level of some protein, is often difficult due to the presence of both large uncertainty of every type and intrinsic limitations on the controller's implementation. This paper explores the limits of biochemically plausible controller design for the problem of robust perfect adaptation (RPA), biologists' term for robust steady state tracking. It is well-known that for a large class of nonlinear systems, a system has RPA iff it has integral feedback control (IFC), which has been used extensively in real control systems to achieve RPA. However, we show that due to intrinsic physical limitations on the dynamics of chemical reaction networks (CRNs), cells cannot implement IFC directly in the concentration of a chemical species. This contrasts with electronic implementations, particularly digital, where it is trivial to implement IFC directly in a single state. Therefore, biomolecular systems have to achieve RPA by encoding the integral control variable into the network architecture of a CRN. We describe a general framework to implement RPA in CRNs and show that well-known network motifs that achieve RPA, such as (negative) integral feedback (IFB) and incoherent feedforward (IFF), are examples of such implementations. We also develop methods to designing integral feedback variables for unknown plants. This standard control notion is surprisingly nontrivial and relatively unstudied in biomolecular control. The methods developed here connect different existing fields and approaches on the problem of biomolecular control, and hold promise for systematic chemical reaction controller synthesis as well as analysis

Robust Perfect Adaptation in Biomolecular Reaction Networks

For control in biomolecular systems, the most basic objective of maintaining a small error in a target variable, say the expression level of some protein, is often difficult due to the presence of both large uncertainty of every type and intrinsic limitations on the controller's implementation. This paper explores the limits of biochemically plausible controller design for the problem of robust perfect adaptation (RPA), biologists' term for robust steady state tracking. It is well-known that for a large class of nonlinear systems, a system has RPA iff it has integral feedback control (IFC), which has been used extensively in real control systems to achieve RPA. However, we show that due to intrinsic physical limitations on the dynamics of chemical reaction networks (CRNs), cells cannot implement IFC directly in the concentration of a chemical species. This contrasts with electronic implementations, particularly digital, where it is trivial to implement IFC directly in a single state. Therefore, biomolecular systems have to achieve RPA by encoding the integral control variable into the network architecture of a CRN. We describe a general framework to implement RPA in CRNs and show that well-known network motifs that achieve RPA, such as (negative) integral feedback (IFB) and incoherent feedforward (IFF), are examples of such implementations. We also develop methods to designing integral feedback variables for unknown plants. This standard control notion is surprisingly nontrivial and relatively unstudied in biomolecular control. The methods developed here connect different existing fields and approaches on the problem of biomolecular control, and hold promise for systematic chemical reaction controller synthesis as well as analysis

Stability and Control of Biomolecular Circuits through Structure

Due to omnipresent uncertainties and environmental disturbances, natural and engineered biological organisms face the challenging control problem of achieving robust performance using unreliable parts. The key to overcoming this challenge rests in identifying structures of biomolecular circuits that are largely invariant despite uncertainties, and building feedback control through such structures. In this work, we develop the tool of log derivatives to capture structures in how the production and degradation rates of molecules depend on concentrations of reactants. We show that log derivatives could establish stability of fixed points based on structure, despite large variations in rates and functional forms of models. Furthermore, we demonstrate how control objectives, such as robust perfect adaptation (i.e. step disturbance rejection), could be implemented through the structures captured. Due to the method's simplicity, structural properties for analysis and design of biomolecular circuits can often be determined by a glance at the equations

Time-scale separation based design of biomolecular feedback controllers (extended version)

Time-scale separation is a powerful property that can be used to simplify control systems design. In this work, we consider the problem of designing biomolecular feedback controllers that provide tracking of slowly varying references and rejection of slowly varying disturbances for nonlinear systems. We propose a design methodology that uses time-scale separation to accommodate physical constraints on the implementation of integral control in cellular systems. The main result of this paper gives sufficient conditions under which controllers designed using our time-scale separation methodology have desired asymptotic performance when the reference and disturbance are constant or slowly varying. Our analysis is based on construction of Lyapunov functions for a class of singularly perturbed systems that are dependent on an additional parameter that perturbs the system regularly. When the exogenous inputs are slowly varying, this approach allows us to bound the system trajectories by a function of the regularly perturbing parameter. This bound decays to zero as the parameter's value increases, while an inner-estimate of the region of attraction stays unchanged as this parameter is varied. These results cannot be derived using standard singular perturbation results. We apply our results to an application demonstrating a physically realizable parameter tuning that controls performance.This work was supported in part by the National Science Foundation through grant NSF-CMMI 1727189

Coupled Reaction Networks for Noise Suppression

Noise is intrinsic to many important regulatory processes in living cells, and often forms obstacles to be overcome for reliable biological functions. However, due to stochastic birth and death events of all components in biomolecular systems, suppression of noise of one component by another is fundamentally hard and costly. Quantitatively, a widely-cited severe lower bound on noise suppression in biomolecular systems was established by Lestas et. al. in 2010, assuming that the plant and the controller have separate birth and death reactions. This makes the precision observed in several biological phenomena, e.g., cell fate decision making and cell cycle time ordering, seem impossible. We demonstrate that coupling, a mechanism widely observed in biology, could suppress noise lower than the bound of Lestas et. al. with moderate energy cost. Furthermore, we systematically investigate the coupling mechanism in all two-node reaction networks, showing that negative feedback suppresses noise better than incoherent feedforward achitectures, coupled systems have less noise than their decoupled version for a large class of networks, and coupling has its own fundamental limitations in noise suppression. Results in this work have implications for noise suppression in biological control and provide insight for a new efficient mechanism of noise suppression in biology

Optimal and H∞H_\infty Control of Stochastic Reaction Networks

Stochastic reaction networks is a powerful class of models for the representation a wide variety of population models including biochemistry. The control of such networks has been recently considered due to their important implications for the control of biological systems. Their optimal control, however, has been relatively few studied until now. The continuous-time finite-horizon optimal control problem is formulated first and explicitly solved in the case of unimolecular reaction networks. The problems of the optimal sampled-data control, the continuous $H_\infty$ control, and the sampled-data $H_\infty$ control of such networks are addressed next. The results in the unimolecular case take the form of nonstandard Riccati differential equations or differential Lyapunov equations coupled with difference Riccati equations, which can all be solved numerically by backward-in-time integration.Comment: 39 page

Design Guidelines For Sequestration Feedback Networks

Integral control is commonly used in mechanical and electrical systems to ensure perfect adaptation. A proposed design of integral control for synthetic biological systems employs the sequestration of two biochemical controller species. The unbound amount of controller species captures the integral of the error between the current and the desired state of the system. However, implementing integral control inside bacterial cells using sequestration feedback has been challenging due to the controller molecules being degraded and diluted. Furthermore, integral control can only be achieved under stability conditions that not all sequestration feedback networks fulfill. In this work, we give guidelines for ensuring stability and good performance (small steady-state error) in sequestration feedback networks. Our guidelines provide simple tuning options to obtain a flexible and practical biological implementation of sequestration feedback control. Using tools and metrics from control theory, we pave the path for the systematic design of synthetic biological systems

Coupled Reaction Networks for Noise Suppression

Noise is intrinsic to many important regulatory processes in living cells, and often forms obstacles to be overcome for reliable biological functions. However, due to stochastic birth and death events of all components in biomolecular systems, suppression of noise of one component by another is fundamentally hard and costly. Quantitatively, a widely-cited severe lower bound on noise suppression in biomolecular systems was established by Lestas et. al. in 2010, assuming that the plant and the controller have separate birth and death reactions. This makes the precision observed in several biological phenomena, e.g., cell fate decision making and cell cycle time ordering, seem impossible. We demonstrate that coupling, a mechanism widely observed in biology, could suppress noise lower than the bound of Lestas et. al. with moderate energy cost. Furthermore, we systematically investigate the coupling mechanism in all two-node reaction networks, showing that negative feedback suppresses noise better than incoherent feedforward achitectures, coupled systems have less noise than their decoupled version for a large class of networks, and coupling has its own fundamental limitations in noise suppression. Results in this work have implications for noise suppression in biological control and provide insight for a new efficient mechanism of noise suppression in biology