Research Article
U-Model-Based Active Disturbance Rejection Control for the Dissolved Oxygen in a Wastewater Treatment Process
Table 3
Indexes under dry weather.
| | PI | SMC | ADRC | UADRC | Improvements (UADRC vs PI) | Improvements (UADRC vs SMC) | Improvements (UADRC vs. ADRC) |
| ISE | 0.113 | 0.090 | 0.032 | 0.027 | −76.1% | −70.0% | −15.6% | ITAE | 2.085 | 5.134 | 0.903 | 0.333 | −84.0% | −93.5% | −63.1% | OCI | 17343.19 | 17348.32 | 17343.40 | 17343.37 | +1.0 × 10−3% | −2.9 × 10−2% | −1.7 × 10−4% |
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