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The goal of this work was to design an adaptive nonlinear proportional–integral (PI) controller to regulate the dynamics of an aerobic wastewater bioreactor, providing a mathematical sketch of proof of the convergence of the control scheme. Adequate operating regions were determined and the corresponding steady-state points were studied via phase portrait and bifurcation analysis. The proposed controller was applied to a wastewater treatment plant to regulate dissolved oxygen (DO) concentration and, indirectly, the concentration of chemical oxygen demand (COD) in the bioreactor; the recirculation flow rate was considered as the manipulated variable. The implementation was based on the mathematical bioreactor’s model, which was experimentally verified; it describes COD dynamics, DO, biomass, recirculation biomass concentrations, and temperature. The obtained results, via numerical simulations, showed that the proposed control law is able to control DO concentration; this control exhibited better performance in comparison to a linear one.

Improvement of Activated Sludge Process Using a Nonlinear PI Controller Design via Adaptive Gain