Robust control of water quality in horizontal sub-surface flow wetlands using decentralized quantitative feedback...

This paper addresses the regulation of water quality influencers such as Organic Nitrogen, Ammonia Nitrogen, Nitrate Nitrogen, Dissolved Organic Carbon and Dissolved Oxygen for a sub-surface flow horizontal wetland in a controlled environment. The plant uncertainty is quantified by using measurement data. The robust control of the process is achieved using a decentralized quantitative feedback theory based control strategy. The control structure also employs a feed-forward mechanism to minimize loop interactions and feedback control to ensure stability, tracking and disturbance rejection. The numerical simulations and hardware-in-loop implementation show that the performance specifications are robustly met.