Robust Nonlinear Observers for Bioprocesses: Application to Wastewater Treatment

In this chapter, some state estimation schemes used in bioprocesses engineering are firstly reviewed with particular emphasis on the so-called nonlinear observers. Second, two simple robust nonlinear observers are proposed and applied in a number of bioprocesses. The first estimation scheme is a generalized asymptotic observer which has demonstrated to be robust in the face of a complete lack of knowledge of the process nonlinearities whereas the second one has shown to be robust in the face of both, the system nonlinearities and the input uncertainty and yields guaranteed intervals for the non-measured variables from the available measurements. The design of both observer schemes are detailed for a general dynamical system which may be applied in a number of bioprocesses. The interval observer is further developed for fault detection and diagnosis purposes. In addition, detailed stability analysis are developed for both observers. Finally, these observers are tested in an actual experimental pilot plant used for the anaerobic digestion of wine vinasses. Key results are presented and discussed.

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