Molecular governor that regulates DNA reactions for molecular robotics

In this study, we propose a controller design for molecular robotics, realized by DNA reactions. The control objective is to regulate the concentration of a target DNA strand to a desired level using practical DNA circuits. A DNA comparator-based controller with DNA amplifiers is proposed, and it is shown to successfully achieve the control objective. The property of the system is evaluated in terms of retroactivity. To our knowledge, this study is the first to realize a regulator in a practical DNA reaction system.