Analytical Fuzzy Predictive Control Applied to Wastewater Treatment Biological Processes

Algorithm 1

General form of the Takagi-Sugeno-type fuzzy models.

: if ( is and is and, and is ) then:

where:

   ; mr: number of rules

   : antecedent vector

   : consequent vector

 : fuzzy sets related to the components

          of the antecedent vector

 Membership function associated to the fuzzy set :

    (smooth function)

      (membership grade of

           with respect to the fuzzy set )