Robust control of the biological wastewater treatment process

This paper deals with a comparison between two robust control designs, H
_∞
and fuzzy control methods, for setpoint tracking - of the organic substrate and the dissolved oxygen concentrations - and for the compensation of the disturbances, the measurement noises and the model parameter variations. An analysis considering sinusoidal shape representations of the uncertain parameters of the model, for a robust tracking problem in a closed-loop multivariable system is also performed.