Fractional order-based hierarchical controller design and evaluation with Bürger-Diehl settler model in a total...

The primary objective of this study was to establish two-level structured control techniques based on the globally known benchmark simulation model no. 1 (BSM1) and the Bürger-Diehl settler model in order to improve effluent quality. The latter was based on the activated sludge model no. 1 (ASM1), while the classic Takacs model was superseded by the more recent Bürger-Diehl settler model with enhanced predictive potential. A two-level hierarchical control structure was considered to maintain the dissolved oxygen concentration basing on the ammonia levels and also a nitrate controller was considered to improve nitrogen removal efficiency. Fractional order PI controllers were considered at the secondary level and advanced control techniques, namely, MPC and fuzzy, were implemented at the primary level. Two advance control schemes, being, FPI-MPC and FPI-fuzzy were designed in the present work. The controllers were designed based on the plant model which was identified using prediction-error minimization method. It was observed that the implemented control strategies in consideration with the plant modifications showed a profound impact in improving the plant performance in terms of the effluent quality. FPI-fuzzy resulted in noticeable 60% and 53% reduction in total nitrogen violations for dry and storm climatic conditions, respectively.