Abstract
A robust regulator for input delayed systems is applied to stabilize a class of bioreactors with a sampled delayed measurement, exhibiting partially known nonlinear dynamic behavior. An uncertain environment with the presence of unknown inputs is considered. This approach is applied on an anaerobic digestion model for the treatment of wastewater where the objective is the regulation of the chemical oxygen demand (COD) by using the dilution rate as the manipulated variable. Despite large disturbances on the input COD and state and parametric uncertainties, this regulation law perform quite well, leading the output COD towards its set-point.
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