Observer-based output feedback linearizing control applied to a denitrification reactor

In this work a late lumping approach is used in order to design a state feedback linearizing controller for influent disturbance attenuation and regulating the nitrogen concentration at the output of a denitrification biofilter. This controller is associated to a distributed parameter observer to estimate all the states needed to compute the controlled input. It results in an output feedback nonlinear controller with stable closed-loop dynamics.