Nonlinear PI Control with Adaptive Interaction Algorithm for Multivariable Wastewater Treatment Process

Table 5

Comparative of controller performance for Case 2.

			Benchmark PI	Fixed		Adaptive
					-%		-%
Dry	Nitrate	Mean	0.2050	0.2049	0.034151	0.1760	14.13377567
		IAE	1.4348	1.2319	14.14134	1.2318	14.14831335
		ISE	0.5690	0.3871	31.96478	0.3862	32.12295903
		Max(dev)	0.9178	0.8138	11.33338	0.8130	11.42053998
		Std(dev)	0.2851	0.2341	17.88558	0.2338	17.99080992
	DO5	Mean	0.0840	0.0852	−1.37547	0.0815	3.026985865
		IAE	0.5883	0.5864	0.324659	0.5707	2.993319848
		ISE	0.0840	0.0863	−2.76868	0.0816	2.828222685
		Max(dev)	0.3963	0.4184	−5.57392	0.4396	−10.9232671
		Std(dev)	0.1095	0.1110	−1.3421	0.1095	0.027389756
Rain	Nitrate	Mean	0.2478	0.2068	16.55907	0.2065	16.6801162
		IAE	1.7349	1.4479	16.54274	1.4457	16.66954868
		ISE	0.7944	0.5435	31.58014	0.5411	31.88227
		Max(dev)	0.9213	0.8445	8.340026	0.8431	8.491979074
		Std(dev)	0.3369	0.2783	17.38408	0.2776	17.59187793
	DO5	Mean	0.0795	0.0802	−0.83991	0.0762	4.189508625
		IAE	0.5567	0.5514	0.955597	0.5338	4.116970829
		ISE	0.0747	0.0763	−2.0968	0.0700	6.333212905
		Max(dev)	0.3851	0.4060	−5.44085	0.4342	−12.764576
		Std(dev)	0.1033	0.1034	−0.07743	0.0999	3.31010453
Storm	Nitrate	Mean	0.2398	0.2037	15.05067	0.2033	15.21748196
		IAE	1.6785	1.4257	15.06107	1.4229	15.22788204
		ISE	0.7880	0.5454	30.78417	0.5417	31.25372793
		Max(dev)	1.2014	0.9644	19.72699	0.9483	21.0670884
		Std(dev)	0.3355	0.2788	16.89272	0.2779	17.16994068
	DO5	Mean	0.0809	0.0818	−1.17001	0.0786	2.787740866
		IAE	0.5660	0.5701	−0.72794	0.5502	2.788084385
		ISE	0.0789	0.0808	−2.43927	0.0763	3.265885694
		Max(dev)	0.3792	0.4137	−9.08659	0.4348	−14.6503533
		Std(dev)	0.1062	0.1075	−1.27179	0.1044	1.648610457