Direct model reference adaptive control of nutrient removal at activated sludge wastewater treatment plant

A direct model reference adaptive controller for dissolved oxygen reference trajectory tracking in an aerobic reactor for nutrient removal at the activated sludge wastewater treatment plant is proposed and investigated. The reference trajectory is prescribed on-line by an upper control layer of the plant overall control system. The controller design utilises a different time scales in the internal dissolved oxygen dynamic and disturbance inputs. The controller is validated by simulation using real data records.