Economic Linear Parameter Varying Model Predictive Control of the Aeration System of a Wastewater Treatment Plant

Fatiha Nejjari; Boutrous Khoury; Vicenç Puig; Joseba Quevedo; Josep Pascual; Sergi de Campos

doi:10.3390/s22166008

Economic Linear Parameter Varying Model Predictive Control of the Aeration System of a Wastewater Treatment Plant

Sensors (Basel). 2022 Aug 11;22(16):6008. doi: 10.3390/s22166008.

Authors

Fatiha Nejjari¹, Boutrous Khoury¹, Vicenç Puig^{1

2}, Joseba Quevedo¹, Josep Pascual¹, Sergi de Campos³

Affiliations

¹ Advanced Control Systems Group, Automatic Control Department, Edifici Gaia Campus de Terrassa, Universitat Politècnica de Catalunya, Rambla Sant Nebridi, 22, 08222 Terrassa, Spain.
² Institut de Robòtica i Informàtica Industrial (CSIC-UPC), Llorens i Artigas, 4-6, 08028 Barcelona, Spain.
³ ADASA Sistemas, S.A.U. C/Ignasi Iglesias, 217, 08820 El Prat de Llobregat, Spain.

Abstract

This work proposes an economic model predictive control (EMPC) strategy in the linear parameter varying (LPV) framework for the control of dissolved oxygen concentrations in the aerated reactors of a wastewater treatment plant (WWTP). A reduced model of the complex nonlinear plant is represented in a quasi-linear parameter varying (qLPV) form to reduce computational burden, enabling the real-time operation. To facilitate the formulation of the time-varying parameters which are functions of system states, as well as for feedback control purposes, a moving horizon estimator (MHE) that uses the qLPV WWTP model is proposed. The control strategy is investigated and evaluated based on the ASM1 simulation benchmark for performance assessment. The obtained results applying the EMPC strategy for the control of the aeration system in the WWTP of Girona (Spain) show its effectiveness.

Keywords: economic model predictive control; linear parameter varying modelling; wastewater treatment process.

MeSH terms

Computer Simulation
Linear Models
Models, Economic
Spain
Waste Disposal, Fluid
Wastewater
Water Purification* / methods

Substances

Waste Water

Grants and funding

This work has been co-financed by the Spanish State Research Agency (AEI) and the European Regional Development Fund (ERFD) through the project SaCoAV (ref. MINECO PID2020-114244RB-I00), by the European Regional Development Fund of the European Union in the framework of the ERDF Operational Program of Catalonia 2014–2020 (ref. 001-P-001643 Looming Factory), and by the DGR of Generalitat de Catalunya (SAC group ref. 2017/SGR/482).