Robust multivariable control of complex biological processes

This paper addresses advanced control of a biological nutrient removal (BNR) activated sludge process. Based on a previously validated distributed parameter model of the BNR activated sludge process, we present robust multivariable controller designs for the process, involving loop shaping of plant model, robust stability and performance analyses. Results from three design case studies showed that a multivariable controller with stability margins of 0.163, 0.492 and 1.062 measured by the normalised coprime factor, multiplicative and additive uncertainties respectively give the best results for meeting performance robustness specifications. The controller robustly stabilises effluent nutrients in the presence of uncertainties with the behaviour of phosphorus accumulating organisms as well as to effectively attenuate major disturbances introduced as step changes. This study also shows that, performance of the multivariable robust controller is superior to multi-loops SISO PI controllers for regulating the BNR activated sludge process in terms of robust stability and performance and controlling the process using inlet feed flowrate is infeasible. (C) 2003 Elsevier Ltd. All rights reserved.

Using the floatability characterisation test rig for industrial flotation plant design

Industrial flotation plant design is a complex process involving many aspects, one of which is the use of pilot-scale plants to test industrial plant flow sheets. Once test work on a pilot-scale has been performed, scale-up of these results to the full-scale plant must be performed. This paper describes scale-up test work performed on the Floatability Characterisation Test Rig (FCTR). The FCTR is a self-contained, highly instrumented mobile pilot plant designed to determine flotation model parameters and to develop and validate flotation plant modelling, scale-up and simulation methodologies.