Abstract
A framework is proposed for automatic tuning and gain scheduling in pH control. The nominal “tuning constants” and the “gain schedule” are found from one relay feedback experiment. The Gulaian—Lane titration curve model is modified so that the process titration curve is a linear combination of two base titration curves. The concept of selection of secondary measurements is extended for the selection of base titration curves. A criterion is also proposed whereby the base titration curve can be determined in an quantitative manner if prior knowledge about variations in the composition of the influent is available. With this model structure, the tuning constants and the gain schedule (from the estimated titration curve) can be determined from a relay feedback experiment. Simulation results show that a robust estimation of the process titration curve can be obtained even under severe process conditions. Furthermore, the proposed approach can overcome the realistic problem facing pH control in most wastewater treatment plants, that of rapid and large changes in influent composition, in a reliable manner.
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