Abstract
The Activated Sludge Process (ASP) is arguably the most popular bioprocess utilized in the treatment of polluted water. The ASP is described by means of a nonlinear model and results on a Two-Input Two-Output multivariable system. In this paper a discrete time digital control is proposed where the design of a decentralized controller is faced. Local controllers are given the form of a Two-Degree-of-Freedom PI controller tuned using the data-driven Virtual-Reference Feedback tuning approach.
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