Document Type : Original Research Paper
Department of Biotechnology & Bioengineering, CINVESTAV-IPN, Av. Instituto Politécnico
Department of Biotechnology & Bioengineering, CINVESTAV-IPN, Av. Instituto Politécnico Nacional 2508, Col. San Pedro Zacatenco, Delegación Gustavo A. Madero, México
School of Chemical Engineering, Universidad Michoacana de San Nicolás de Hidalgo, Ciudad Universitaria, Morelia, Michoacán, México
The main task of this work is related with the design of a class of SISO robust control law for the
regulation of substrate concentration (CDO) of an Industrial Activated Sludge Wastewater Plant. The control
design is related with an uncertainty estimator (reduced order observer) based Active Control. Departing from the tracking error between the desired and the current substrate concentrations trajectories a control law is designed and the plant is regulated to the corresponding set point of the COD concentration. To be realizable the controller needs model information related with the kinetic term of COD consumption which is provides with a reduced order observer, these coupled structure (observer based controller) is robust against model uncertainties. The performance of the proposed control law is illustrated with numerical simulations employing a mathematical model of an Industrial Activated Sludge Wastewater Plant tuned with industrial data.