Digital Control of a Waste Water Treatment Plant


  • Ramón Vilanova Department de Telecomunicació i Enginyeria de Sistemes Universitat Autí²noma de Barcelona 08193, Bellaterra, Spain
  • José David Rojas Department de Telecomunicació i Enginyeria de Sistemes Universitat Autí²noma de Barcelona 08193, Bellaterra, Spain
  • Ví­ctor M. Alfaro Escuela de Ingenierí­a Eléctrica Universidad de Costa Rica San José, 11501-2060 Costa Rica.


ASP, Process Control, PID, Data-Driven Control, VRFT


The Activated Sludge Process (ASP) is arguably the most popular bioprocess utilized in the treatment of polluted water. The ASP is described by means of a nonlinear model and results on a Two-Input Two-Output multivariable system. In this paper a discrete time digital control is proposed where the design of a decentralized controller is faced. Local controllers are given the form of a Two-Degree-of-Freedom PI controller tuned using the data-driven Virtual-Reference Feedback tuning approach.


F. Nejjari, A. Benhammou, B. Dahhou, and G. Roux, "Non-linear multivariable adaptive control of an activated sludge wastewater treatment process," Int. J. Adapt. Control Signal Process., pp. 347-365, 1999.;2-8

G. Guardabassi and S. Savaresi, "Virtual reference direct design method: an off-line approach to data-based control system design," Automatic Control, IEEE Transactions on, vol. 45, pp. 954-959, May 2000.

M. C. Campi, A. Lecchini, and S. M. Savaresi, "Virtual reference feedback tuning: a direct method for the design of feedback controllers," Automatica, vol. 38, no. 8, pp. 1337 - 1346, 2002.

A. Lecchini, M. Campi, and S. Savaresi, "Sensitivity shaping via virtual reference feedback tuning," in Decision and Control, 2001. Proceedings of the 40th IEEE Conference on, vol. 1, pp. 750-755 vol.1, 2001.

A. Lecchini, M. Campi, and S. Savaressi, "Virtual reference feedback tuning for two degree of freedom controllers," International Journal of Adaptative control and Signal Processing, vol. 16, no. 5, pp. 355-371, 2002.

R. Vilanova, R. Katebi, and V. Alfaro, "Multi-loop PI-based control strategies for the Activated Sludge Process," in Emerging Technologies and Factory Automation, 2009. ETFA 2009. IEEE International Conference on, September 2009.

S. Caraman, M. Sbarciog, and B. Marian, "Predictive Control of aWastewater Treatment Process," International Journal of Computers, Communications & Control, vol. 2, no. 2, pp. 132-142, 2007.

M. Morari and E. Zafirou, Robust Process Control. Prentice-Hall International, 1989.



Most read articles by the same author(s)

Obs.: This plugin requires at least one statistics/report plugin to be enabled. If your statistics plugins provide more than one metric then please also select a main metric on the admin's site settings page and/or on the journal manager's settings pages.