In this paper a simulated plant based on a wastewater treatment benchmark is used to evaluate a number of controllers. Feedforward-feedback controllers for dissolved oxygen set-point and external carbon flow, and feedforward controller for internal recycle flow are evaluated separately and altogether. In the feedforward parts of the controllers, static physical models are incorporated in the control laws. The feedback parts of the controllers are used to compensate for model approximations. A simulation study shows that feedforward-feedback control of the activated sludge plant is more successful than standard PI control in meeting the effluent standards and reducing operational costs.

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