Acknowledgements

Note that the reference profiles of S\* and O\* are the same as in the first case. As in the adaptive case, the measurements of controlled variable S and O are corrupted with additive zero mean white noises (2.5% from their nominal values). From Figures 19–22, it can be seen that the behavior of overall system with robust controllers (25) and (26), even if this controller uses much less a priori information and is affected by measurement noises, is correct, being close to the behavior of closed-loop system with adaptive controller (20) as well as to the behavior of

In this chapter, a distributed and hierarchized control system implemented at WTP Calafat was presented and analyzed. Also, advanced control solutions for the activated sludge bioprocess

closed-loop system in the ideal case (process completely known).

5. Conclusions

taking place in the WTP were proposed.

Figure 23. Estimates of bounds of X—Case 2.

178 Wastewater and Water Quality

Figure 24. Profiles of μ and its bounds—Case 2.

This work was supported by UEFISCDI, project ADCOSBIO no. 211/2014 (2014–2017); by the University of Craiova and Water Company Oltenia, contract no. 168/2017; and by the Competitiveness Operational Program, project TISIPRO no. P\_40\_416/105736 (2016–2021).
