Experimental simultaneous state and parameter identification of a pH neutralization process based on an extended Kalman Filter

Abstract

The pH neutralization process is a representative nonlinear process. If a change in feed or buffer streams is introduced, the characteristics of the titration curve are altered and the way of change in titration curve is highly nonlinear. Moreover, if the changes are introduced in the middle of operation, then the nature of the process becomes nonlinear and time-varying. This is the one of the reason why conventional PID controller may fail. Even though the use of buffer solution may alleviate the nonlinearity, the improvement may be limited. A better way to tackle this type of process is to use nonlinear model-based control techniques with online parameter estimation. However, in most cases, the measurements of the process are not adequate enough so that the full state feedback control techniques can be utilized. If the states and crucial parameters are estimated online simultaneously, the effectiveness of the nonlinear state feedback control can be greatly enhanced. Thus, in this study, the capability of simultaneous estimation of states and parameters using Extended Kalman Filter (EKF) are experimentally investigated for a pH neutralization process. The process is modelled using reaction invariants and the concentrations of reaction invariants of the effluent stream (states) and the feed concentrations (parameters) are estimated online. From the comparison of experiments and simulations, it is found that the states and parameters can efficiently be identified simultaneously with EKF so that the estimated information can be exploited by state-feedback control techniques