Research Article
U-Model-Based Active Disturbance Rejection Control for the Dissolved Oxygen in a Wastewater Treatment Process
Table 6
Indexes under dry weather (for varying set-values).
| | PI | SMC | ADRC | UADRC | Improvements (UADRC vs PI) | Improvements (UADRC vs SMC) | Improvements (UADRC vs ADRC) |
| ISE | 0.114 | 0.091 | 0.032 | 0.028 | −75.4% | −69.2% | −12.5% | ITAE | 2.118 | 5.149 | 0.924 | 0.365 | −82.8% | −92.9% | −60.5% | OCI | 17343.49 | 17348.58 | 17343.70 | 17343.67 | +1.0 × 10−3% | −2.8 × 10−2% | −1.7 × 10−4% |
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