A multivariable robust-adaptive control strategy for a recycled wastewater treatment bioprocess

▸ A robust-adaptive control strategy for a wastewater treatment process is designed. ▸ Only some lower and upper time-varying bounds of kinetic uncertainties are known. ▸ The robust controller is based on a linearizing law and a state interval observer. ▸ The interval observer is able to estimate lower and upper bounds of unknown states. ▸ Good simulation results are obtained for a recycled activated sludge bioprocess.