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An estimation problem of water quality of a river is considered. The BOD (biochemical oxygen demand) and DO (dissolved oxygen) are regarded as two major quantities to investigate the water quality. First, based on the couple of steady-state transport equations for substance concentrations, the stable water quality equations are derived, and then the state space representation is obtained. By formulating the observation process from which the observation data on the BOD and DO are measured, the Kalman filter is derived. Finally, simulation studies are presented.

Estimation of Self-Purification of Polluted Rivers Based on the Stable Water Quality Equations