Abstract
Controllers for dissolved oxygen reference trajectory tracking for activated sludge processes are proposed and investigated. The nonlinear model predictive, indirect model predictive and direct model reference adaptive control algorithms are investigated. Both the nutrient and the phosphorous removal from a wastewater by its biological treatment using an activated sludge technology are considered. An approach to the controller design utilises a structure of the dissolved oxygen dynamics and its two time scales: fast and slow. The predictive controllers offer good tracking performance and robustness. The MRAC are much simpler to implement. However, they need to compromise between a tracking accuracy and a rate of change and magnitudes of the control actions that arc produced. The controllers are validated by simulation using real data sets and ASM2d model of the biological reactor
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