On-line robust nonlinear state estimators for nonlinear bioprocess systems

This paper presents the design of a new robust nonlinear estimator for estimation of states of nonlinear systems. Two approaches are considered based on the state-dependent Riccati equation formulation and the technique of H-infinity control design. The proposed method differs from other well-known state estimators, because not only nonlinear dynamics but also the robustness is taken into account. The proposed method is implemented and tested on a biological wastewater system. The simulation study compares the Extended Kalman Estimator (EKE), the State-Dependent Riccati Estimator (SDRE), and the Extended H-infinity Estimator (EHE) with a new proposed State Dependent H-infinity Estimator (SDHE). The results are compared for different weather conditions, i.e. dry, rain and storm, showing a superior performance of the proposed method.