Model predictive control of wastewater treatment plants: Application to the BSM1 benchmark

Abstract Linear Quadratic Dynamic Matrix Control has been applied to the Benchmark Simulation Model 1 (BSM1) wastewater treatment plant to maintain the effluent quality within regulations-specified limits. Good performance was achieved under steady influent characteristics, especially concerning the nitrogen-related species. In presence of influent disturbances the behavior was less satisfactory but the addition of a feedforward action based on the measurement of the influent flowrate improves the performance.