State Estimation and Model-Based Control of a Pilot Anaerobic Digestion Reactor

Figure 4

Estimates and real data from laboratory analysis with UKF. Standard deviations of estimation errors: 𝑆_bvs: 0.62 g/L; 𝑆_vfa: 0.32 g/L; 𝑆_vsin: 1.02 g/L. (For 𝑆_vsin, the standard deviation is calculated from 𝑡=120 d, since a relatively large initial estimation error is imposed on purpose.)

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