Interval methods as a simulation tool for the dynamics of biological wastewater treatment processes with parameter uncertainties

This paper presents sophisticated interval algorithms for the simulation of discrete-time dynamical systems with bounded uncertainties of both initial conditions and system parameters. Since naive implementations of interval algorithms might lead to guaranteed enclosures of all system states which are too conservative to be practically useful, we present algorithmic extensions of classical approaches which are applicable to the simulation of non-cooperative systems with time-varying uncertain parameters. Overestimation arising in the interval evaluation of dynamical system models due to the wrapping effect is reduced by an exact pseudo-linear transformation of nonlinear state equations and by new heuristics for the subdivision of interval enclosures which especially prefer splitting of unstable intervals. To highlight the typical procedure for parameterization of interval-based simulation routines and to demonstrate their efficiency, a nonlinear model of biological wastewater treatment processes is discussed. For this application, we consider the maximum specific growth rate of substrate consuming bacteria as a time-varying uncertain parameter. Only worst-case bounds are assumed to be available for the range of this parameter while no information is provided about its actual variation rate.