摘要：In this work, an experimental implementation of a model based output feedback (OF) scheme applied to regulate the volatile fatty acids concentration of an anaerobic digestion pilot plant is presented. The OF scheme was developed within a global nonlinear dynamics framework, resulting in an interlaced control-observer design in the light of passivity, observability, and bifurcation properties. From a industrial control perspective, the resulting OF scheme is a saturated PI controller with: (i) systematic construction and tuning and (ii) nonlocal robust stability conditions in terms of control gains and limits. Experimental results demonstrate the applicability, robustness and reliability of the OF control scheme in a real environment under several load disturbances, severe uncertainties and typical operational failures.
关键词：Waste treatmentDynamic output feedbackAnaerobic Digestionreal-time control
