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

Table 3

Performance and robustness measures for predictive control and PI control.

	Predictive	PI	Ratio Pred./PI
IAE𝑠	0.093	0.72	0.13
IAE𝑑	1.46	2.20	0.66
𝜎𝑢	0.69	1.29	0.67
𝜇|̇𝑢|	7.07	25.2	0.28
GM	≈∞	2.6	N/A
PM	63.9°	47.6°	1.34