Unknown Inputs Nonlinear Observer for an Activated Sludge Process

<table class="fixed-width table-group" id="tab2"><tr><td><table class="table"><colgroup><col style="width:4.86em"/><col style="width:20.13em"/></colgroup><tr><td class="thead-hr" colspan="2"><hr/></td></tr><tr class="thead"><td class="align_left">Notation</td><td class="align_center">Description</td></tr><tr><td class="thead-hr" colspan="2"><hr/></td></tr><tr><td class="align_left"><span style="width: 13.9949ptpx;"><svg height="11.927pt" id="M32" style="vertical-align:-3.291101pt" version="1.1" viewbox="-0.0498162 -8.6359 13.9949 11.927" width="13.9949pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M748 650H522L515 622L546 617C580 611 587 604 565 575C518 513 469 451 419 393C376 474 349 534 330 580C318 609 325 612 361 618L383 622L392 650H151L144 622C214 616 224 612 257 543L360 327C270 218 187 124 159 95C106 40 92 34 26 28L17 0H252L259 28L236 31C189 37 188 47 209 78C249 136 308 210 377 294L478 79C494 44 487 37 449 32L418 28L409 0H673L680 28C596 34 591 39 554 116L436 361C526 469 574 521 604 553C659 612 669 614 739 622L748 650Z" id="g113-89"></path></g><g transform="matrix(.0091,0,0,-0.0091,9.88,3.132)"><path d="M357 391C357 416 325 451 270 451C241 451 179 431 146 400C109 365 97 334 97 307C97 248 143 213 196 180C250 146 261 123 261 101C261 75 237 40 190 40C153 40 110 72 86 109C81 116 68 119 55 112C37 102 24 87 24 66C24 30 85 -12 137 -12C229 -12 331 62 331 140C331 189 304 218 236 260C197 284 164 309 164 346C164 381 194 400 220 400C259 400 282 380 304 350C310 342 321 339 330 344C347 353 357 372 357 391Z" id="g50-116"></path></g></svg></span></td><td class="align_center"> Concentration of biodegradable substrate</td></tr><tr><td class="align_left"><span style="width: 28.2751ptpx;"><svg height="13.9769pt" id="M33" style="vertical-align:-5.341001pt" version="1.1" viewbox="-0.0498162 -8.6359 28.2751 13.9769" width="28.2751pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M748 650H522L515 622L546 617C580 611 587 604 565 575C518 513 469 451 419 393C376 474 349 534 330 580C318 609 325 612 361 618L383 622L392 650H151L144 622C214 616 224 612 257 543L360 327C270 218 187 124 159 95C106 40 92 34 26 28L17 0H252L259 28L236 31C189 37 188 47 209 78C249 136 308 210 377 294L478 79C494 44 487 37 449 32L418 28L409 0H673L680 28C596 34 591 39 554 116L436 361C526 469 574 521 604 553C659 612 669 614 739 622L748 650Z" id="g113-89"></path></g><g transform="matrix(.0091,0,0,-0.0091,9.88,3.132)"><path d="M870 650H622L613 619C694 615 708 606 708 559C708 531 702 477 686 396L636 136H633L281 650H127L120 619C180 616 198 611 212 592C227 572 232 558 220 503L166 254C148 169 139 131 126 89C112 43 85 35 33 32L24 0H280L286 32C208 37 189 44 189 93C189 124 198 179 212 250L267 526H271L622 -8H655L732 396C747 477 762 532 770 556C785 600 798 616 862 619L870 650Z" id="g50-79"></path></g><g transform="matrix(.0091,0,0,-0.0091,17.471,3.132)"><path d="M750 359C750 550 603 667 427 667C199 667 24 499 24 287C24 100 166 -17 344 -17C573 -17 750 136 750 359ZM645 356C645 196 538 24 350 24C205 24 127 136 127 285C127 471 247 626 422 626C571 626 645 521 645 356Z" id="g50-80"></path></g><g transform="matrix(.0065,0,0,-0.0065,23.868,5.233)"><path d="M436 222C436 297 385 359 295 376V378C320 391 343 407 363 428S394 474 394 501C394 578 333 635 239 635C186 635 138 610 110 577L63 514L91 490C114 525 158 571 211 571C266 571 306 541 306 483C306 411 234 371 141 343L151 306C167 311 192 317 219 317C276 317 344 282 344 194C346 102 296 46 227 46C166 46 125 76 99 97C91 104 81 103 71 97C62 90 47 75 46 62C44 50 48 39 62 26C77 10 120 -12 168 -12C242 -12 436 62 436 222Z" id="g176-52"></path></g></svg></span></td><td class="align_center"> Concentration of nitrogen as nitrate and nitrite</td></tr><tr><td class="align_left"><span style="width: 28.7409ptpx;"><svg height="13.9182pt" id="M34" style="vertical-align:-5.2823pt" version="1.1" viewbox="-0.0498162 -8.6359 28.7409 13.9182" width="28.7409pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M748 650H522L515 622L546 617C580 611 587 604 565 575C518 513 469 451 419 393C376 474 349 534 330 580C318 609 325 612 361 618L383 622L392 650H151L144 622C214 616 224 612 257 543L360 327C270 218 187 124 159 95C106 40 92 34 26 28L17 0H252L259 28L236 31C189 37 188 47 209 78C249 136 308 210 377 294L478 79C494 44 487 37 449 32L418 28L409 0H673L680 28C596 34 591 39 554 116L436 361C526 469 574 521 604 553C659 612 669 614 739 622L748 650Z" id="g113-89"></path></g><g transform="matrix(.0091,0,0,-0.0091,9.88,3.132)"><path d="M870 650H622L613 619C694 615 708 606 708 559C708 531 702 477 686 396L636 136H633L281 650H127L120 619C180 616 198 611 212 592C227 572 232 558 220 503L166 254C148 169 139 131 126 89C112 43 85 35 33 32L24 0H280L286 32C208 37 189 44 189 93C189 124 198 179 212 250L267 526H271L622 -8H655L732 396C747 477 762 532 770 556C785 600 798 616 862 619L870 650Z" id="g50-79"></path></g><g transform="matrix(.0091,0,0,-0.0091,17.215,3.132)"><path d="M870 650H600L593 618C681 609 684 605 669 516L641 367H261L286 516C302 603 313 610 391 618L398 650H132L123 618C214 610 218 606 200 516L127 130C113 46 107 40 25 32L18 0H290L298 32C204 40 200 42 214 130L250 321H631L596 131C580 47 573 39 484 32L475 0H753L762 32C673 39 668 46 685 130L757 516C772 606 778 610 861 618L870 650Z" id="g50-73"></path></g><g transform="matrix(.0065,0,0,-0.0065,24.331,5.233)"><path d="M468 176V229H370V632H320C217 496 117 353 22 210V176H288V112C288 46 284 42 191 35V0H457V35C374 42 370 46 370 110V176H468ZM288 229H94C161 337 222 429 286 518H288V229Z" id="g176-53"></path></g></svg></span></td><td class="align_center"> Concentration of nitrogen as ammonia</td></tr><tr><td class="align_left"><span style="width: 20.6573ptpx;"><svg height="13.9182pt" id="M35" style="vertical-align:-5.2823pt" version="1.1" viewbox="-0.0498162 -8.6359 20.6573 13.9182" width="20.6573pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M748 650H522L515 622L546 617C580 611 587 604 565 575C518 513 469 451 419 393C376 474 349 534 330 580C318 609 325 612 361 618L383 622L392 650H151L144 622C214 616 224 612 257 543L360 327C270 218 187 124 159 95C106 40 92 34 26 28L17 0H252L259 28L236 31C189 37 188 47 209 78C249 136 308 210 377 294L478 79C494 44 487 37 449 32L418 28L409 0H673L680 28C596 34 591 39 554 116L436 361C526 469 574 521 604 553C659 612 669 614 739 622L748 650Z" id="g113-89"></path></g><g transform="matrix(.0091,0,0,-0.0091,9.88,3.132)"><path d="M750 359C750 550 603 667 427 667C199 667 24 499 24 287C24 100 166 -17 344 -17C573 -17 750 136 750 359ZM645 356C645 196 538 24 350 24C205 24 127 136 127 285C127 471 247 626 422 626C571 626 645 521 645 356Z" id="g50-80"></path></g><g transform="matrix(.0065,0,0,-0.0065,16.277,5.233)"><path d="M452 139L416 148C386 81 373 77 319 77H141L282 220C372 312 414 373 414 464C414 569 332 635 240 635C181 635 132 609 101 574L42 493L70 467C98 506 143 562 209 562C280 562 324 515 324 435C324 347 261 272 197 197C148 139 89 84 34 29V0H417L452 139Z" id="g176-51"></path></g></svg></span></td><td class="align_center"> Concentration of oxygen</td></tr><tr><td class="align_left"><span style="width: 34.0191ptpx;"><svg height="13.9769pt" id="M36" style="vertical-align:-5.341001pt" version="1.1" viewbox="-0.0498162 -8.6359 34.0191 13.9769" width="34.0191pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M748 650H522L515 622L546 617C580 611 587 604 565 575C518 513 469 451 419 393C376 474 349 534 330 580C318 609 325 612 361 618L383 622L392 650H151L144 622C214 616 224 612 257 543L360 327C270 218 187 124 159 95C106 40 92 34 26 28L17 0H252L259 28L236 31C189 37 188 47 209 78C249 136 308 210 377 294L478 79C494 44 487 37 449 32L418 28L409 0H673L680 28C596 34 591 39 554 116L436 361C526 469 574 521 604 553C659 612 669 614 739 622L748 650Z" id="g113-89"></path></g><g transform="matrix(.0091,0,0,-0.0091,9.88,3.132)"><path d="M870 650H622L613 619C694 615 708 606 708 559C708 531 702 477 686 396L636 136H633L281 650H127L120 619C180 616 198 611 212 592C227 572 232 558 220 503L166 254C148 169 139 131 126 89C112 43 85 35 33 32L24 0H280L286 32C208 37 189 44 189 93C189 124 198 179 212 250L267 526H271L622 -8H655L732 396C747 477 762 532 770 556C785 600 798 616 862 619L870 650Z" id="g50-79"></path></g><g transform="matrix(.0091,0,0,-0.0091,17.215,3.132)"><path d="M870 650H600L593 618C681 609 684 605 669 516L641 367H261L286 516C302 603 313 610 391 618L398 650H132L123 618C214 610 218 606 200 516L127 130C113 46 107 40 25 32L18 0H290L298 32C204 40 200 42 214 130L250 321H631L596 131C580 47 573 39 484 32L475 0H753L762 32C673 39 668 46 685 130L757 516C772 606 778 610 861 618L870 650Z" id="g50-73"></path></g><g transform="matrix(.0065,0,0,-0.0065,24.331,5.233)"><path d="M468 176V229H370V632H320C217 496 117 353 22 210V176H288V112C288 46 284 42 191 35V0H457V35C374 42 370 46 370 110V176H468ZM288 229H94C161 337 222 429 286 518H288V229Z" id="g176-53"></path></g><g transform="matrix(.0065,0,0,-0.0065,27.542,5.233)"><path d="M256 606C256 635 239 657 207 657C171 657 147 619 147 593C147 563 173 543 194 543C234 543 256 573 256 606ZM233 98L216 125C191 101 156 75 139 75C133 75 132 82 139 107L214 377C226 420 224 454 198 454C169 454 98 415 31 351L46 323C81 353 110 372 116 372C129 372 126 356 121 338L57 101C31 5 47 -12 72 -12C115 -12 197 52 233 98Z" id="g176-106"></path></g><g transform="matrix(.0065,0,0,-0.0065,29.408,5.233)"><path d="M513 91L497 125C461 87 438 71 424 71C416 71 410 77 419 106C440 174 459 243 472 310C497 441 467 454 445 454C419 454 393 443 360 424C319 400 237 344 180 265H178L196 336C217 421 207 454 182 454C146 454 84 416 25 354L42 318C66 342 103 368 113 368C119 368 124 362 117 333L31 -2L41 -12C59 -3 91 5 119 11C133 76 146 123 162 180C214 262 337 384 383 384C404 384 411 371 391 304C370 233 350 165 333 90C318 24 328 -12 359 -12C385 -12 449 23 513 91Z" id="g176-111"></path></g></svg></span></td><td class="align_center"> Concentration of ammonia input</td></tr><tr><td class="align_left"><span style="width: 21.3113ptpx;"><svg height="11.927pt" id="M37" style="vertical-align:-3.291101pt" version="1.1" viewbox="-0.0498162 -8.6359 21.3113 11.927" width="21.3113pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M748 650H522L515 622L546 617C580 611 587 604 565 575C518 513 469 451 419 393C376 474 349 534 330 580C318 609 325 612 361 618L383 622L392 650H151L144 622C214 616 224 612 257 543L360 327C270 218 187 124 159 95C106 40 92 34 26 28L17 0H252L259 28L236 31C189 37 188 47 209 78C249 136 308 210 377 294L478 79C494 44 487 37 449 32L418 28L409 0H673L680 28C596 34 591 39 554 116L436 361C526 469 574 521 604 553C659 612 669 614 739 622L748 650Z" id="g113-89"></path></g><g transform="matrix(.0091,0,0,-0.0091,9.88,3.132)"><path d="M357 391C357 416 325 451 270 451C241 451 179 431 146 400C109 365 97 334 97 307C97 248 143 213 196 180C250 146 261 123 261 101C261 75 237 40 190 40C153 40 110 72 86 109C81 116 68 119 55 112C37 102 24 87 24 66C24 30 85 -12 137 -12C229 -12 331 62 331 140C331 189 304 218 236 260C197 284 164 309 164 346C164 381 194 400 220 400C259 400 282 380 304 350C310 342 321 339 330 344C347 353 357 372 357 391Z" id="g50-116"></path></g><g transform="matrix(.0091,0,0,-0.0091,13.43,3.132)"><path d="M250 606C250 634 233 656 203 656C168 656 146 618 146 593C146 564 169 545 192 545C227 545 250 573 250 606ZM227 95L212 119C187 98 152 71 135 71C129 71 128 78 134 102L207 373C219 418 217 451 194 451C165 451 92 411 30 351L44 326C77 353 106 371 114 371C124 371 121 357 117 341L55 97C32 5 46 -12 70 -12C108 -12 191 51 227 95Z" id="g50-106"></path></g><g transform="matrix(.0091,0,0,-0.0091,15.978,3.132)"><path d="M504 89L488 119C453 85 428 69 416 69C408 69 405 75 412 102L462 304C492 438 460 451 436 451S388 441 356 423C311 397 229 336 170 256H168L189 340C208 418 200 451 177 451C144 451 82 413 24 352L40 322C65 345 98 369 108 369C114 369 119 363 112 335L28 -3L36 -12C54 -3 83 4 112 10C125 73 138 122 153 174C205 258 328 382 376 382C395 382 399 369 384 305L330 93C312 25 323 -12 351 -12C378 -12 439 21 504 89Z" id="g50-111"></path></g></svg></span></td><td class="align_center"> Concentration of substrate input</td></tr><tr class="table-tr"><td colspan="2"><hr class="tbody-hr"/></td></tr></table></td></tr></table>

Mathematical Problems in Engineering

tab2

Table 2

Table 2: Unknown Inputs Nonlinear Observer for an Activated Sludge Process 