Two-stage robust control of substrate concentration for an activated sludge process

A two-stage robust control scheme improving the performance of an Activated Sludge Process is proposed. In the first stage, asymptotic command following the substrate concentration with simultaneous attenuation of the fluctuations of the dissolved oxygen concentration is assured. The first stage is a pure dynamic controller. The second stage is a PID controller. Good performance of the proposed control scheme on the corresponding nonlinear ASP model is illustrated through extensive simulation experiments. The contribution of the paper can be summarized to the derivation of the following two results: An accurate to a wide range of inputs and disturbances, linearized generic model of the ASP and, most important, a linear robust controller that controls accurately the effluent substrate concentration without using measurements of it.