U-Model-Based Active Disturbance Rejection Control for the Dissolved Oxygen in a Wastewater Treatment Process

<table class="table-group" id="tab2"><tr><td><table class="table"><tr><td class="thead-hr" colspan="5"><hr/></td></tr><tr class="thead"><td class="align_left">Controllers</td><td class="align_center"><i>K</i>/<i>ω</i><sub><i>c</i></sub>/<i>τ</i><sub><i>n</i></sub>/<i>ƞ</i></td><td class="align_center"><i>T</i><sub><i>i</i></sub>/<i>ω</i><sub><i>o</i></sub>/<i>D</i></td><td class="align_center"><i>b</i><sub>0</sub></td><td class="align_center"><span style="width: 13.3712ptpx;"><svg height="15.535pt" id="M109" style="vertical-align:-3.9436pt" version="1.1" viewbox="-0.0498162 -11.5914 13.3712 15.535" width="13.3712pt" 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="M615 290C615 392 563 448 529 448C511 448 491 441 484 434L483 425C518 400 546 349 546 273C546 158 504 46 417 46C381 46 356 77 356 142C356 184 380 293 392 334L387 340L307 323C305 288 296 228 287 188C265 94 221 52 180 52C144 52 112 89 112 171C112 278 164 372 241 430L226 454C106 394 23 288 23 155C23 40 79 -12 139 -12C184 -12 245 32 285 85C292 31 322 -12 376 -12C423 -12 470 18 501 45C570 104 615 184 615 290Z"></path></g><g transform="matrix(.0091,0,0,-0.0091,8.295,-5.741)"><path d="M414 144C384 79 371 75 317 75H135L276 221C367 316 408 376 408 465C408 570 327 635 237 635C179 635 131 609 100 575L42 494L67 471C94 510 138 565 205 565C277 565 321 517 321 435C321 348 258 270 195 195C146 137 88 81 33 26V0H411C423 44 433 88 446 135L414 144Z"></path></g><g transform="matrix(.0091,0,0,-0.0091,7.969,3.784)"><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"></path></g></svg></span></td></tr><tr><td class="thead-hr" colspan="5"><hr/></td></tr><tr><td class="align_left">PI</td><td class="align_center">25</td><td class="align_center">0.002</td><td class="align_center">—</td><td class="align_center">—</td></tr><tr><td class="align_left">SMC</td><td class="align_center">4500</td><td class="align_center">−1300</td><td class="align_center">8</td><td class="align_left"> </td></tr><tr><td class="align_left">ADRC</td><td class="align_center">900</td><td class="align_center">800</td><td class="align_center">8</td><td class="align_center">—</td></tr><tr><td class="align_left">UADRC</td><td class="align_center">900</td><td class="align_center">800</td><td class="align_center">8</td><td class="align_center">250000</td></tr><tr class="table-tr"><td colspan="5"><hr class="tbody-hr"/></td></tr></table></td></tr></table>

<div>Parameters of four controllers.</div>

Mathematical Problems in Engineering

tab2

Table 2

Table 2: U-Model-Based Active Disturbance Rejection Control for the Dissolved Oxygen in a Wastewater Treatment Process 