Data-driven Control of the Activated Sludge Process: IMC plus Feedforward Approach

  • Jose David Rojas Universidad de Costa Rica
  • Orlando Arrieta Universidad de Costa Rica
  • Montse Meneses Universitat Autonoma Barcelona
  • Ramon Vilanova Universitat Autonoma Barcelona


In the work presented in this paper, data-driven control is used to tune an Internal Model Control. Despite the fact that it may be contradictory to apply a model-free method to a model-based controller, this methodology has been successfully applied to a Activated Sludge Process (ASP) based wastewater treatment. In addition a feedforward controller over the influent substrate concentration was also computed using the virtual reference feedback tuning and applied to the same wastewater process to see the effect over the dissolved oxygen and the substrate concentration at the effluent.


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How to Cite
ROJAS, Jose David et al. Data-driven Control of the Activated Sludge Process: IMC plus Feedforward Approach. INTERNATIONAL JOURNAL OF COMPUTERS COMMUNICATIONS & CONTROL, [S.l.], v. 11, n. 4, p. 522-537, july 2016. ISSN 1841-9844. Available at: <>. Date accessed: 12 july 2020. doi:


Activated sludge process, data-driven control, internal model control, wastewater treatment plants