Robust nonlinear control of a class of nonlinear processes: application to wastewater treatment

In this paper we propose a robust error feedback controller for nonlinear bioprocesses that allows us to track predetermined constant and/or oscillatory profiles while attenuating the disturbances and maintaining the stability conditions of such bioprocesses. Various numerical case studies for an anaerobic digestor model are conducted to test the robustness properties of the proposed controller. It is found that the proposed controller yields excellent responses in the face of parameter uncertainties, load disturbances and set-point changes.