Predictive control of dissolved oxygen in an activatedsludge wastewater treatment plant

This paper reports on the design of several model predictive controllers for dissolved oxygen (DO) in an activated sludge wastewater treatment plant (WWTP). The paper explores several possibilities for obtaining appropiate models for prediction using subspace identification methods. The paper also illustrates the use of a number of possibilities for rearranging the models to include actuator limitations. Finally, three model predictive controllers (MPCs) are designed, tested and the results are compared with a PI controller. A well established simulation benchmark is used as a test bench for this study.