Research Article
U-Model-Based Active Disturbance Rejection Control for the Dissolved Oxygen in a Wastewater Treatment Process
Table 8
Indexes under storm weather (for varying set-values).
| | PI | SMC | ADRC | UADRC | Improvements (UADRC vs PI) | Improvements (UADRC vs SMC) | Improvements (UADRC vs ADRC) |
| ISE | 0.113 | 0.087 | 0.032 | 0.028 | −75.2% | −67.8% | −12.5% | ITAE | 1.991 | 4.870 | 0.868 | 0.346 | −82.6% | −92.9% | −60.1% | OCI | 17763.56 | 17768.58 | 17763.78 | 17763.74 | +1.0 × 10−3% | −2.7 × 10−2% | −2.3 × 10−4% |
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