TítuloEvent based control of basic wastewater treatment plant control loops

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(1)A c ta sde la sXXX IXJo rnadasdeAu tomá t ica ,Bada joz ,5 -7deSep t iemb rede2018 h t tps : / /do i .o rg /10 .17979 /spudc .9788497497565 .0499. Ev en t -ba sedcon t ro lo fba s ic wa s tewa te rt rea tmen tp lan tcon t ro l loop s R .V i lan ov a ,I .S an t in ,C .P ed r e t UAB ,Ba r c e lona ,{Ramon .V i l an o v a ,I gn a c i o .S an t in ,C a r l e s .P ed r e t}@u ab . c a t M .B a rbu ”Duna r ead eJo s”Un iv e r s i t yo fG a l a t i .R om an i aM a r i an .B a rbu@u g a l . r o. Ab s t ra c t Th i sp ap e radd r e s s e sth ep r o b l emo fb a s i cc on t r o l lo op sin wa s t ewa t e rt r e a tm en tp lan t s . B yb a s i c c on t r o llo op sw ea r er e f e r r in gtoth et r ad i t iona l d i s so l v e do x y g enandn i t r a t e s . Th e ya r eth eb a s i cc on t r o l s mo r esoph i s t i c a t e dc on t r o lso lu t ion s c anb eb a s e dup on . Th e r e fo r ei ti simp o r tan ttha t th e s elo op sp e r fo rminaneffi c i en twa y . Th ep r o b l emi sadd r e s s e dh e r ew i th inth ef r am ewo r kp r o v id e db yth eB en chma r kS imu la t ion Mo d e l Num b e r1(BSM1 )andb yth eu s eo fane v en t b a s e d so lu t ion .I tw i l lb ev e r ifi e dtha tth eso lu t ionc an s l i gh t l yimp r o v eth ep e r fo rman c eo fth ea l r e ad ye x i t in gc on t r o l l e r sb o tha tlo opl e v e la sw e l la sa t p lan top e r a t ionl e v e l . Keywo rd s : Ev en t -ba s edcon t r o l , Nu t r i en tr e m o v a l ,W a s t ew a t e rt r ea tm en tp lan t s .. 1 In t rodu c t ion Th ein c r e a s inghumana c t iv i t i e shav eg en e r a t ed th en e edo fu s ingapp rop r ia t em e thod stor edu c e th e i rimp a c tonth eenv i ronm en t . On eo fth ee s s en t i a lc ompon en t so fth i seffo r ti sth eimp l em en t a t i ono fw a s t ew a t e rt r ea tm en tp lan t sino rd e rt o b r in gth eefflu en ttoa c c ep tab l epo l lu tan tc on c en t r a t i onl im i t sb e fo r ei ti sd i s cha rg edin ton a tu r a l r e c ip i en t s( l ak e s ,r iv e r se t c . ) . W a s t ew a t e rt r e a t m en tp l an t s(WWTP s )a r eu s edw o r ldw id et oen su r eth esu i tab l ew a t e rqua l i tyfo rth er e c e iv in g en v i r onm en t .Som eo fth epo l lu tan t sa r er edu c ed t oa l l ow edl ev e l sbyth ed e fau l t WWTPs t ru c tu r e w i th ou tapp ly inganyau toma t i ccon t ro l . H ow ev e r ,o th e rpo l lu tan t sa r e mo r ed iffi cu l ttob er e du c ed .F o rth i sr ea sonanda l sotor e s t r i c top e r a t i on a lc o s t s ,th eapp l i ca t iono fcon t ro len g in e e r in gin WWTP si sp l ay inganimpo r tan tr o l ein r e s e a r chinr e c en ty ea r s[1 ]and[2 ] . Aneffi c i en ts o lu t iontoimp rov eth eeffi c i en cyo f w a s t ew a t e rt r ea tm en tp lan t si stoadop tau tom a t i c c on t r o lm e thod s . [3 ,4 ,5 ] . Th e i radop t i onf o r th e s esy s t em si ss lowinth eca s eo fw a s t ew a t e r t r e a tm en tp l an t s ,th e ma inr ea son sb e ing ,onon e h and ,th ef a c ttha tth eya r eex t r em e lycomp l ex. p r o c e s s e sandth el a c ko rth eh i ghc o s to fth e m e a su r em en tequ ipm en t ,andonth eo th e rh and , th es i gn ifi c an tr e t i c en c eo fth eindu s t ryt oa l low th et e s t in go fth ec on t r o ls o lu t i on sonr e a lp l an t s , g iv enth epo t en t i a len v i r onm en t a lr i sk s[ 6 ] .N ev e r th e l e s s ,af ewc a s e so fp l an tau t om a t i on ,m ad e po s s ib l eb yn ew m on i t o r in gin s t rum en t a t i on , [7 ] h a v eb e enr e c en t lyc i t edinth el i t e r a tu r e , [ 8 ]and m o r ea r eb e in gg r adu a l lyimp l em en t edinfu l l s i z e f a c i l i t i e s . An o th e rp r opo s eds o lu t i oni st obu i lds om eb en ch m a rk m od e l s wh i cha l l owd iff e r en tu s e r st ot e s t th e i rc on t r o ls t ru c tu r e sanda l g o r i thm sonth e s am ep l a t f o rm . Afi r s tm od e li sth eB en chma rk S imu l a t i on M od e lN o .1(BSM 1 ) [ 9 ]wh i chin c lud e s on lyw a t e rp r o c e s s in gun i t sandd efin e sth r e es c e n a r i o sf o rth einflu en t ,b a s edonth er a inc ond i t i on sth a tm aya r i s e . BSM 1in c lud e sac on t ro l s t r a t e gyth a ti sc a l l ed D e f au l tC on t r o lS t r a t egy (DCS ) . Th i si sb a s edon P Ic on t r o l l e r sino rd e r t oc on t r o lth ed i s s o lv edoxy g eninth efi f tht ank ( DO5 )andth en i t r a t einth es e c ondt ank( NO2 ) b ym an ipu l a t in gth eo xy g ent r an s f e rc o effi c i en tin th efi f tht ank( KLa5)andth ein t e rn a lr e cy c l eflow r a t e( Q r in)r e sp e c t iv e ly . Ob t a in in gas a t i s f a c t o ry c on t r o lp e r f o rm an c eo fth e s ev a r i ab l e si so fg r ea t impo r t an c e ,e sp e c i a l ly wh enapp ly in gm o r ec om p l exc on t r o ls t r a t e g i e sth a tv a ryth es e t -po in t so f th ed e f au l tc on t r o ll oop s .Inth e s eca s e s ,w i thb e t t e rp e r f o rm an c eo fth ed e f au l tc on t r o ll oop s ,efflu en tqu a l i t yi simp r o v ed w i thl ow e rc o s t s .Inth i s w a y ,f o rs ev e r a ly e a r sands t i l lr e c en t lyth e r ea r e m an yw o rk sth a tf o cu sonth eob j e c t iv eo fimp r ov in gth ep e r f o rman c eo fDO5andNO2c on t r o l ,a s in[ 1 0 ]and[ 1 1 ] . Th ep r e s en tw o rki sb a s ed m a in lyonth eapp l i c a t i ono fev en t -b a s edc on t r o lino rd e rt oimp r ov e th ep e r f o rm an c eo f DCS . Ev en t -b a s edc on t r o li s at e chn iqu ea l r e adyu s edino th e ra r e a ssu cha s in[ 1 2 ]f o rpHc on t r o lf o rth eeff e c t iv eu s eo fflu e g a s e so rin[ 1 3 ]f o rg r e enh ou s ep r odu c t i onp ro c e s s e s . H ow ev e r ,i ti san o v e l t yinth el i t e r a tu r e r e l a t edt o W a s t ew a t e rT r e a tm en tP l an tc on t ro l . Inc omm onc on t r o lt e chn iqu e s ,th ec on t r o ls i gna l i sa c tu a l i s edb a s edont im e .Inth ec a s eo fev en t b a s edc on t r o l l e r s ,th ev e r ifi c a t i ono fev en t si sr eg -. 499.

(2) u la r lyca r r i edou t ,bu tth ec on t r o ls i gn a li son ly a c tua l i s edwh enon eo rm o r eev en t so c cu r . Th er e s to ft ep ap e ri sa sf o l l ow s . F i r s to fa l l , th es imu la t ions c en a r i oi sp r e s en t ed . Th e BSM1 lay ou t ,p e r fo rm an c eind ex e sandd e f au l tcon t ro l s t ra t egyi sp r e s en t ed .S e c ond ly ,ins e c t i on3 ,th e ev en t -b a s edc on t r o ls t r a t e gyb a s edonth ein t e r na l mod e lcon t r o lf o rmu l a t i oni sou t l in ed . Th i s g en e r i cs t ru c tu r ew a sfi r s tp r e s en t edin[14 ]in mo r ed e ta i l ,soju s tth eb a s i cs t ru c tu r eandd e s ign p r in c ip l e sa r eou t l in edh e r e .I tf o l l ow ss e c t ion4 w i thth ed efin i t i ono fth eev en tb a s edc on t ro l l e r s fo rth eBSM1b a s i cl oop sandp r e s en t a t i ono fth e s imu la t ionr e su l t s ,Th ep ap e rend sw i thc on c lud ingr ema rk sandsu g g e s t i on sf o rfu r th e rw o rk .. 2. Ma te r ia l s And Me thod s. Th i ss e c t ionp r e s en t sth eb a s i ce l em en t sth a tcon s t i tu t eth ew o rk in gs c en a r i o . Onon es id e ,th e w a s t ew a t e rp l an tl a y ou tandev a lu a t i onind ex e s tha tw i l lb eu s edt oa s s e s sth ec on t r o ls t ra t e g i e s . A l soth eg en e r i cev en t -b a s edc on t ro lap p roa chba s edonth eIMCev en t -b a s edp r e s en t ed in[14 ]w i l lb ep r e s en t ed . 2 .1 Benchma rkS imu la t ion Mode l #1 Th i ss e c t ionp r o v id e sab r i e fd e s c r ip t i ono fth e w o rk ings c ena r i op r o v id edb yth eBSM 1 . Th i si sa s imu la t ionen v i r onm en td efin in gap l an tl ay ou t ,a s imu la t ion m od e l ,influ en tl o ad s ,t e s tp r o c edu r e s andev a lua t ionc r i t e r i a .. Qin. In fluen t. B io log i ca lrea c to r s Un i t1. Un i t2. Un i t3. C la r i fie r. Un i t4. KLa5. Un i t5. P I. m=10. Qe E ffluen t. DO5. m=6. NO2 P I. m=1. Qrin. In te rna lrecyc le. Qrex. Ex te rna lrecyc le. Qw Wa s tage. F igu r e1 : B en chma rkS imu la t ion Mod e l1 w i th d e fau l tcon t ro ls t ra t egyonth eba s i cloop s ab ioma s ss ludg eag eo fabou t9d ay s . Th en i t ro g enr emov a li sa ch i ev edu s ingad en i t r ifi ca t ions t ep p e r fo rm edinth eanox i ctank sandan i t r ifi ca t ion s t epca r r i edou tinth ea e ra t edtank s . Th ein t e r na lr e cy c l ei su s edtosupp lyth ed en i t r ifi ca t ion s t epw i thNO .BSM1d efin e sth r e ed iff e r en tinflu en tda ta[15 ,16 ] :d ry w ea th e r ,ra in w ea th e rand s to rmw ea th e r . Ea chs c ena r iocon ta in s14day so f influ en tda ta w i thsamp l ingin t e rv a l so f15 m in u t e s . 2 .2 .1 T e s tp rocedu re s As imu la t ionp ro to co li se s tab l i sh edtoa s su r etha t r e su l t sa r ego tund e rth esam econd i t ion sandcan b ecompa r ed . Sofi r s ta150day sp e r iodo fs ta b i l i za t ioninc lo s ed loopu s ingcon s tan tinflu en t da taha stob ecomp l e t edtod r iv eth esy s t emtoa s t eady s ta t e ,n ex tas imu la t ion w i thd ry w ea th e r i srunandfina l lyth ed e s i r edinflu en tda ta(d ry , ra ino rs to rm )i st e s t ed . On lyth er e su l t so fth e la s ts ev enday sa r econ s id e r ed . 2 .2 .2 Ev a lua t ionc r i te r ia. 2 .2 P lan tlayou tandInfluen tload s Th es ch ema t i cr ep r e s en t a t i ono fth e WWTPi s p r e s en t edinF i g . 1 . Th ep l an tc on s i s t sinfiv eb io log i ca lr ea c to rt ank sc onn e c t edins e r i e s ,fo l low ed byas e conda rys e t t l e r . Th efi r s ttw ot ank shav ea v o lum eo f100 0 m3 e a chanda r ean o x i candp e r f e c t ly m ix ed . Th er e s tth r e et ank sh av eav o l a chanda r ea e r a t ed . Th es e t t l e r um eo f1333 m3 e s mod e l ed ha sato ta lv o lum eo f6 0 0 0 m3 andi int enlay e r s ,b e in gth e6 thl a y e r ,c oun t ingf rom bo t tomtotop ,th ef e edl a y e r . Tw or e cy c l eflow s , th efi r s tf romth el a s tt ankandth es e c ondf rom th eund e rflowo fth es e t t l e r ,c omp l e t eth esy s t em . Th ep lan ti sd e s i gn edf o ranav e r a g einflu en td ry w ea th e rflowr a t eo f1 8 4 4 6 m3/dandanav e rag e b iod eg radab l ech em i c a lo xy g end em and(COD )in 3 th einflu en to f3 0 0g /m .I t sh yd r au l i cr e t en t ion t im e ,ba s edonth ea v e r a g ed ryw e a th e rfl owra t e 3 andth eto ta lt ankands e t t l e rv o lum e( 1 2 0 00 m ) , s i s14 .4h . Th ed e f au l tw a s t a g efl owr a t e(Q w)i fix edto385 m3/dth a td e t e rm in e s ,b a s edonth e to ta lamoun to fb i om a s sp r e s en tinth esy s t em ,. Ino rd e rtocompa r eth ed iff e r en tcon t ro ls t ra t e g i e s ,d iff e r en tc r i t e r iaa r ed efin ed . Th ep e r fo rman c ea s s e s sm en ti s mad ea ttw ol ev e l s . Th efi r s tl ev e lcon c e rn sth econ t ro l . Ba s i ca l ly , th i ss e rv e sa sap roo ftha tth ep ropo s edcon t ro l s t ra t egyha sb e enapp l i edp rop e r ly .I ti sa s s e s s ed byIn t eg ra lo fth eSqua r edE r ro r( ISE )andin t e g ra t edab so lu t ee r ro r( IAE )c r i t e r ia s . Th es e cond l ev e lp rov id e sm ea su r e sfo rth eeff e c to fth econ t ro l s t ra t egyonp lan tp e r fo rman c e .I tin c lud e sEfflu en t Qua l i tyInd ex(EQ I )and Ov e ra l l Co s tInd ex (OC I ) .. 500. V a r iab l e V a lu e Ntot < 18gN .m−3 CODt < 100gCOD .m−3 NH < 4gN .m−3 −3 TSS < 30gSS .m BOD5 < 10gBOD .m−3 T ab l e1 : Efflu en tqua l i tyl im i t s.

(3) Th eev a lua t ion mu s tin c lud eth ep e r c en tag eo f t im etha tth eefflu en tl im i t sa r en o tm e tandth e numb e ro fv i o l a t i on s . Th i sl a s tt e rmi sd efin ed a sth enumb e ro fc r o s s in g so fth el im i t ,f r omb e lowtoabov eth el im i t . Th eefflu en tc on c en t ra t ion so fN o t a lCOD(COD ,NH ,T o ta lSu s to t,T t) p end edSo l id s(TSS )and B i o l o g i c a l Oxy g en D e ou ldob eyth el im i t sg iv eninT a mand(BOD5)sh b l e1 . Ntot i sc a l cu l a t eda sth esumo f NOand K j e ldah ln i t ro g en(NK j ) ,b e in gth i sth esumo fo r gan i cn i t rog enandNH . F o r wha t ma t t e r st oth eg l ob a lp l an top e ra t ion ev a lua t ionth eEfflu en tQu a l i t yInd ex ,EQ I ,i sd e fin edtoev a lu a t eth equ a l i t yo fth eefflu en t .I ti s r e la t ed w i thth efin e st ob ep a iddu et oth ed i s cha rg eo fpo l lu t i on . EQ Ii sa v e r a g edo v e ra7day s ob s e rv a t ionp e r i odandi ti sc a l cu l a t ed w e igh t ing th ed iff e r en tc ompound so fth eefflu en tl o ad s . On th eo th e rhand ,th e Ov e r a l lC o s tInd ex , OC I ,i s d efin eda s : OCI =AE+PE+5·SP+3·EC+ME (1 ) wh e r eAEi sth ea e r a t i onen e r gy ,PEi sth epump ingen e rgy ,SPi sth es lud g ep r odu c t i ont ob ed i s po s ed ,ECi sth ec on sump t i ono fex t e rn a lca rbon sou r c eand MEi sth em ix in gen e r gy .F o racom p l e t esp e c ifi ca t i ono fth e s eind ex e sandi t sc on c r e t e compu ta t ion ,th er e ad e ri sr e f e r r edt o[ 1 5 ] . 2 .2 .3. De fau l tcon t ro ls t ra tegy. Th ed efin i t iono fth eBSM 1in c lud ead e f au l tcon t ro ls t ra t egy , wh i chi sc omm on lyu s eda sar e f e r en c efo rcomp a r i s on . Th ed e f au l tc on t r o ls t ra t egy o f BSM1[9 ]u s e stw oP r opo r t i on a l In t eg r a l(P I ) con t ro lloop sa ssh ownin F i g .1 . Th efi r s ton e inv o lv e sth ec on t r o lo fS ym an ipu l a t ing KLa O ,5 b inth efi f thtank(K . Th es e t -po in tf o rS s La 5) O ,5 i 2 mg/ l . Th es e c ondc on t r o ll ooph a st o ma in ta in tas e t -po in to f1 m g / lb ym an ipu la t ing SNO,2 a Qa. 2 .3 Ev en t -ba sedIn te rna l Mode l Con t ro l Th eIn t e rna lM od e lC on t r o l( IMC )app r o a chfo r con t ro l l e rd e s i gna sp r e s en t edin[ 1 7 ]andfu r th e r d ev e lop edin[ 1 8 ]i sb a s edonth ev e ryb a s i cp r in c ip l eo fc lo s eth elo op wh enn e c e s sa r y . Th i si s a l soon eo fth ee s s en t i a l so fev en t -b a s edcon t ro l . Anev en tw i l lb eg en e r a t edju s tinc a s eth e r ei s th en e edtof e edth ec on t r o l l e rw i thn ewin f o r ma t ionr ega rd in gth ep r o c e s sou tpu tandtou s e th i sin fo rma t i ont och an g eth ec on t r o la c t ion .In th i ss e c t ionw ew i l lp r ov id eaqu i c kr ev i ewo fth e IMCba s i c sw i thsp e c i a lemph a s i sonth econ c ep tua lm ean ingo fth ed iff e r en tk eys i gn a l sino rd e r. 1 tos e etha t ,ev enonacon t inuo st im eba s i s ,th e ev en t -b a s edra t iona l ei sinh e r en ttoth eIMCs t ru c tu r e . Th i si sno tth eca s eo fth ec la s s i ca lf e edba ck con t ro lconfigu ra t ion .. Th eIMCs ch em ei sba s edonth eno t iono ff e ed ingba ckth eun c e r ta in tytoth eIMCcon t ro l l e r .I f th e r ei snoun c e r ta in tyth e r ei snon e edtoc lo s eth e sy s t emo th e rthantos tab i l i z ei t . Th e r e fo r e ,inth e ca s eth ep ro c e s stob econ t ro l l edi sop en loops ta b l e ,th er equ i r em en to fa c cu ra t es e t -po in tt ra ck ing canb ea ch i ev edbyanop enloopcon t ro lsy s t em . W i thanop enloopcon t r o ls ch em e ,th es tab i l i tyo f th esy s t emi sgua ran t e edp rov id edtha tbo thth e p lan tandcon t ro l l e rt ran s f e rfun c t ion sa r es tab l e . A l so ,th ed e s igno fth econ t ro l l e rinanop enloop con t ro ls ch em e mays imp lyb eapp roa ch edbydy nam i cinv e r s ion . Th ed rawba cko fsu chanop en loopcon t ro lsy s t emi sth es en s i t iv i tyto mod e l inge r ro r sandth einab i l i tytod ea lw i thex t e rna l d i s tu rban c e sen t e r ingth esy s t em .Infa c t ,anex t e rna l ,no tm ea su rab l e ,d i s tu rban c ecanea s i lyb e a s s im i la t edtoak indo fun c e r ta in ty .Inth i sca s e , fo rmth econ t ro l l e ro fth eeff e c t s th eon lyw aytoin o fth eun c e r ta in tyonth econ t ro l l edv a r iab l ei sby th eu s eo ff e edba ck . Th e r e fo r e ,ac lo s ed loopsy s t emshou ldb eu s edtod ea lw i thun c e r t a in tywha t ev e ri t ssou r c e . Th eIMCcon t ro ls ch em e ,d ep i c t ed infigu r e(2 (a ) )ob ey stoth ep r ev iou sp r in c ip l e . W i th inth econv en t iona lIMCs t ru c tu r e ,wh e r eP i sth ep ro c e s stob econ t r o l l ed ,Pm r ep r e s en t sth e mod e lo fth ep ro c e s s ,and Qi sth eIMCcon t ro l l e r . Th es igna ltha ti sf e e d b a c ktoth econ t ro l l e rto fo rmth e ,inacon fu s ew ayca l l ed ,e r ro r .I ti sg iv en by : e = r−y+Pm u=r−P( u+d)+Pm u−n (2 ) = r−Pd+(Pm −P) u−n. (3 ). wh e r eobv iou s lyi fth e r ea r eno mod e l inge r ro r s , Pm = P,andth e r ei snoex t e rna ld i s tu rban c e , d=0 ,no rm ea su r em en tno i s e ,n=0 ,th ef e edba ck i sz e roandth esy s t emop e ra t e sinop en loop .In su chca s e ,th eIMCcon t ro l l e ri sju s td r iv enbyth e r e f e r en c es igna l .I ti sju s t wh enun c e r ta in tyin anyon eo fth ep r ev iou sfo rm sapp ea r stha tth e f e edba cks igna li sd iff e r en tf romz e roino rd e rto in fo rmth eIMCcon t ro l l e ro fi t . W ecanth inko fth i ss i tua t ioninev en tt e rm s . Th eapp ea ran c eo fun c e r ta in tyi sl ik es ign a l ingan ev en ttha tf o r c e stoc lo s eth eloop . W ecanex t end th i sra t i on a l eandcon s id e rth en e edtoc lo s eth e loopju s t wh enth eun c e r ta in tyi ss i gn ifi c an t ,say i ti sabov esom eth r e sho ld . Th i si s wha tl e tsto p ropo s eth eev en t -ba s eds ch em eshowninfigu r e (2 (b ) ) . 1. th esam eapp l i e si fw ew o rkonasamp l ed ,d i s c r e t e t im e ,con t ro lsy s t em .. 501.

(4) d e. Q. u. ev en t . Th eb ehav io ro fth esy s t emcanth e r e fo r eb e a s s im i la t edtoas equ en c eo fop en loopr e spon s e s o fth efo rmy s )=P( s ) Q( s ) j ∆ .A sp e rth ep rop j( e r t i e so fth eIMCth i sw i l la lw ay sb eas tab l eop en loopa slonga sth eIMCcon t ro l l e randth ep lan t a r es tab l e .. y. P. n Pm. 3 Ev en t -Ba sed Con t ro l le r s De s ign. r ( a) C on v e n t i ona lIn t e rna lMod e lC on t r o lC on f i gu ra t i on. Inth i ss e c t ion ,w ep r e s en tth ed e s igno fth eev en t ba s edIMCcon t ro l l e r stoth etw oba s i ccon t ro l loop sd efin edinth eBSM1s c ena r io .F o rsu chpu r po s e ,inwha tfo l low s ,th ed e s igno fth econ t ro l l e r s i sp r e s en t edfi r s ta su sua lcon t inuou st im eIMC con t ro l l e r s ,fo l low edbyi t simp l em en ta t ionund e r anev en t -ba s eds t ra t egy .. d e s. Q. u. y. P. n e v e n tg e n e ra t o r Q. Pm. e s. e. 3 .1 In te rna l Mode l Con t ro l le r s. r. samp l i ngun i t ( b) E v e n t−ba s e dIn t e rna lMod e lC on t r o lC on f i gu ra t i on. F igu r e2 : Con v en t i on a landev en t -b a s edIn t e rna l Mod e lCon t ro lc onfi gu r a t i on s Inth i ss ch em e ,ap a r tf r omth eIMCc on t r o l l e r ,Q, th er e s ti scon s id e r edt ob ep a r to fth eev en tg en e r a to r . Th e r e fo r e ,th eev en tg en e r a t o rin c lud e sth e p lan t mod e l ,Pm ,a sw e l la sar ep l i c ao fth econ t ro l l e r . Th eo th e run i to fth eev en tg en e r a t o ri sth e samp l ingun i t . Th ea imo fth i sb l o c ki st om ea su r e andtos endane r r o rs amp l et oth ec on t r o l l e rea ch t im eth eev en tc ond i t i oni ss a t i sfi ed .F o rth i spu r po s eth eSSODs amp l in ga l g o r i thmin t r odu c edin [19 ]ha sb e enc on s id e r ed .H ow ev e r ,th ek eyp r op e r t i e so fth eev en t -b a s edIMCa r et ob eind ep en d en to fth i sch o i c e .A c c o rd in gt oth es t anda rda l go r i thm ,th eou tpu ti sc ompu t edb a s edontw op r e d efin edpa ram e t e r s :anev en tth r e sh o ld ∆∈R+, andth ein t e rn a ls t a t eo fth ea l g o r i thmj∈ Z+. ( t )i sth einpu tt oth eSSODb lo ck , Th e r e fo r e ,i fe i t sou tpu ti sc ompu t eda c c o rd in gt oe ( t ) = j ∆ . s Inth i sw ayth eev en t sa r et r i g g e r edwh encon s e c u t iv el ev e l sa r ec r o s s edb yth ee r r o rs i gn a l ,wh i ch m ean stha tth es amp l eds i gn a lch an g e si t sv a lu e toth eupp e ro rl ow e rqu an t i z a t i onl ev e lwh enth e inpu ts ign a le ( t )in c r e a s e so rd e c r e a s e sm o r ethan ∆ . Th ec lo s ed loopr e spon s eo fanev en t -b a s edcon t ro l sy s t emi sd r iv enb yth eo c cu r r en c eo fth eev en t s . A slonga snon ewev en ti sg en e r a t ed ,th einpu t i l lb ek ep tt oi t sa c tua l toth eIMCc on t r o l l e rQ w v a lu ee t ) =j ∆andth ec on t r o lsy s t emw i l lop s( e ra t einop enl oop .F r omth eexp r e s s i on( 3 )o fth e s igna lb e ings amp l ed ,i ti sth ep r e s en c eo fanyso r t o fun c e r ta in tyth a tm a yd r iv eth eg en e r a t i ono fan. Inth i ss e c t ionth ed e s igno fth eDO con t ro l l e rfo r th efi f tha e ra t edtank ,DO5,a sw e l la sfo rth e n i t ra t eonth es e condtank ,NO2 a r econ s id e r ed . F o rcon t ro l l e rd e s ignpu rpo s e s ,al in ea r mod e li s d e r iv edfi r s tfo rea chon eo fth eloop s .Ino rd e r tofa c i l i ta t eth eimp l em en ta t iono fth econ t ro l l e r a sw e l la sm in im i s eimpa c tonp lan top e ra t ionth e r equ i r edexp e r im en t stoid en t i fyth e mod e l sa r e d e s ign eda ss imp l ea spo s s ib l e . Th eexp e r im en t ca r r i edou ti stod r iv eth esy s t emtoas t eadys ta t e s i tua t ionandtoapp lya10%s t epchang einth e man ipu la t edv a r iab l e s . Th er e su l t ingda tai sco l l e c t edandu s edfo rid en t ifi ca t ion . Th el in ea rp ro c e s s mod e l sw e r eob ta in edu s ingsub spa c eid en t i fi ca t iont e chn iqu e s . Th ea lgo r i thmemp loy edw a s N4S ID[20 ] ,wh i chexh ib i t srobu s tnum e r i ca lp rop e r t i e sandr e la t iv e lylowcompu ta t iona lcomp l ex i ty . A su sua lw i th inth eP ro c e s Con t ro lcom mun i ty , wh en ev e rpo s s ib l e ,th e s e mod e l sw i l lb e r edu c edtoth eu sua lF i r s t -O rd e r -P lu s t im e -D e lay (FOPTD )o rev enju s tF i r s t -O rd e r(FO )ino rd e r tofa c i l i ta t eth eapp l i ca t iono fs imp l econ t ro l l e r tun ingru l e s .H e r eth efo l low ingF i r s tO rd e rmod e l i sob ta in edfo rth er e la t ionf romth eKLa5 toth e DO5: KDO5 0. 0163 PDO5( s )= = TDO5s+1 0 . 01 s+1. (4 ). A sacomp l em en ttoth e DO5 con t ro lonth ela s t a e ra t edtank ,th eB en chma rkf ram ew o rkp ropo s e s th econ t ro lo fth en i t ra t eonth es e condt ank ,NO2, byu s ingth ein t e rna lr e c i r cu la t ingflow ,Qrin. Th e NO2con t ro l l e rw i l la l sob etun eda c co rd ingtoth e IMCapp roa chbu tnowu s ingth eco r r e spond ing id en t ifi ed mod e l . Th ep ro c edu r efo l low sth esam e l in e sa sth eon efo rth eDO con t ro l l e rinth ep r e v iou ss e c t ionandth e mod e ltha tw i l lb eu s edfo r con t ro li s :. 502.

(5) −5 KNO2 7 . 9 1 4 51 0 PNO2( s )= = TNO2s+1 0. 0 2s+1. 3 .2 Ev en t -ba sedimp lemen ta t ion (5 ). A si tcanb eob s e rv ed ,th em od e l sh a v eb e enr e du c edtoth em in imumc omp l ex i t y . N oh igh e r o rd e r mod e l sa r en e ed ed . A sas id eb en efi t ,th e co r r e spond ingc on t r o l l e r sw i l la l s ob ev e rys imp l e f rombo thth ed e s i gnpo in to fv i ewa sw e l la sth e imp l em en ta t i onon e . Th ed e s igno fth ec o r r e spond in gIMCc on t ro l l e r s , fo l low sth eu su a lp r o c edu r e . InIMCc on t ro l ,i f P( s )d eno t e sth ep r o c e s sm od e l ,th eIMCcon t ro l l e rQ( s )i sexp r e s s eda s : 1 −1 −1 Q( s )=P( s ) F( s )=P( s ) ( λ s+1 )n. (6 ). s )i sth ew e l lkn ownIMCfi l t e r . Th eλ wh e r e F( pa ram e t e r ,d e t e rm in e sth ec l o s ed l oopt im econ s tan t . Th i st im econ s t an tc an b es e l e c t edon th eba s i so fth eop en l oopt im ec on s t an t ,T,a s λ=τ T ,w h e r e τ e x p r e s s e s t h e s p e e do f r e s p o n s e c c o fth ec lo s ed l oop w i thr e sp e c tt oth eop en loop . H e r e ,w es e l e c tth ed e s i r edc l o s ed l oopt om econ s tan ta st ent im e sf a s t e r . Th e r e f o r e ,f o r bo th =0 . 1 . T h er e s u l t i n gIM Cc o n t r o l l e r s loop s ,τ c r eada s :. 1 ( Txs+1 ) −1 Qx( s )=Px( s ) Fx( s )= Kx ( Txτ s )2 c +1 (7 ). F o rth eev en t -ba s edimp l em en ta t ion ,w eju s tn e ed tosp e c i fyth esamp l ingt im eo fth eev en tg en e ra to randth ep r e c i s ionin t e rv a ltha tw i l ld e t e r m in eth eev en tquan t i sa t ion . A sth eo rd e ro f magn i tudo fbo thloop si sth esam e ,th ep r e c i s ionin t e rv a lfo rev en td e t e c t ionh a sb e encho s en a s ∆DO5= ∆NO2= ∆=0. 01 .A l so ,th eth esam p l ingt im eo ffo rev en td e t e c t ionha sb e enfix ed to1m in . Th i sm ean stha tap ro c e s sm ea su r em en t w i l lb etak enev e rym inu t eandth eev en t -d e t e c t ion w i l lb eex e cu t ed .I fnoev en ti sd e t e c t edth enno s igna lw i l lb et ran sm i t t edtoth ea c tua to r . Th e s es e t t ing sa r i s e qu i t e na tu ra l lyf romth e dynam i c so fth eloop sund e rcon s id e ra t ion . Th e s e l e c t iono fth e s epa ram e t e r sw i l ld e t e rm in eth e t ra ckfo l low ingcapab i l i t i e so fth eco r r e spond ing loop . No t i c ewh e r ea sth econ t ro l l e r sd efin edinth e d e fau l tcon t ro ls t ra t egydoop e ra t eincon t inuou s t im eh e r eth e man ipu la t ed v a r iab l e mov e sa r e d r iv en byth eg en e ra t ion o fth eco r r e spond ing ev en t s . A sa ma t t e ro fcompa r i son ,th eP Icon t ro l l e rpa ram e t e r stha tw ou ldr e su l tf romt ran s la t ingth e IMCd e s ign sin toi t sP Ifo rma r ecompa r ed w i th th eP Itun ingsp e c ifi edinth eb en chma rk . T a b l e(2 )show sbo thtun ing s .I ti sob s e rv edtha t th eev en t -ba s edimp l em en ta t iona l low sh igh e rcon t ro l l e rga in stha ta r et radu c edin tob e t t e rt ra ck ing andfa s t e rd i s tu rb an c ea t t enua t ion . T ab l e2 :P Icon t ro l l e rtun ing s P r op o s e d B en chma r k Kp Ti Kp Ti DO5 1 .227 0 .01 25 0 .002 SNO2 25 .2700 0 .02 10 .000 0 .025 Loop. wh e r exs tand sf o rDO5andNO2ine a chca s e . A tth i spo in ti ti sw o r tht on o t i c eth a t ,ev enth ed e s igno fth econ t r o l l e ri sp r e s en t edw i th inth eIMC f ram ew o rk ,th ep r e s en t edc on t r o l l e r sa r e ,infa c t , fi l t e r edP Icon t r o l l e r s . Th e r e f o r e ,th es am ek indo f con t ro llawa sth eon e simp l em en t edinth eb en ch ma rk . Eff e c t iv e ly ,th ef e edb a c kc on t r o l l e rKx( s )a s so c i a t edtoQx( s )r e ad s 1 Txs+1 2 2 Kx λxs +2sλ x 2 1 1 Tx = 1+ (8 ) Kλx Txs λx/ 2 s+1. Kx( s ) =. Th i si sa P Ic on t r o l l e rw i th p a r am e t e r s Kp = (2 Tx/Kxλx) ,Ti=Tx andfi l t e r edw i thal owpa s s fi l t e rw i tht im ec on s t an tλx/ 2 . Th e r e f o r e ,a tth e end ,i tcanb es e ene i th e ra saP Io ra sanIMC .. 4 S imu la t ionre su l t s Inth i ss e c t ion ,w ep r e s en tth eapp l i ca t iono fth e d e s ign edev en t -ba s edIMCcon t ro ltoth etw oba s i c con t ro lloop sd efin edinth eBSM1s c ena r io . Th e mo t iv a t ioninshow ingth i sapp l i ca t ioni sa l soto showth efa c ttha tth ed e s igno fth econ t ro l l e rcan b eadd r e s s edinacomp l e t eind ep end en tw ayf rom i t sev en t -ba s edimp l em en ta t i on . Th i si son eo fth e ma inadv an tag e so fth i sm e thodtha ta l low sth e ind ep end en t( r e )ad ju s tm en to fbo thpa r t so fth e con t ro lsy s t em. Th et im er e spon s e sa sw e l la squan t i ta t iv em e t r i c s tha tshowth ep e r fo rman c eo fth ep ropo s edcon t ro l l e r sincompa r i sonw i thth ed e fau l tcon t ro l l e r s in c lud edinth eb en chma rk . H e r e ,ju s tth et im e. 503.

(6) r e spon s e sco r r e spond in gt oth ed ryinflu en tp ro fi l ea r eshown .H ow ev e r ,int ab l e( 3 ) ,th ep e r f o r man c em e t r i c sc o r r e spond in gt oa l lth r e einflu en t s a r eshownandc omp a r edw i thth ep e r f o rm an c eo f th eo r ig ina lb en chm a rkd e f au l tc on t r o l l e r .I ti s w o r thtoh igh l i gh tth a tinth el i t e r a tu r e ,th eim p rov em en tinth e s etw ol oop si su su a l lyadd r e s s ed byth eu s eo fo th e r, m o r eadv an c ed ,c on t ro lap p roa ch e ssu cha sm od e lp r ed i c t iv ec on t r o l[21 ] . H e r ew eshowth a tth e r ei ss t i l lr oomf o rimp rov e m en ti fwha ti sin t r odu c edi sn o tach an g einth e compu ta t iono fth ec on t r o ll awi t s e l fbu tini t sim p l em en ta t ion .H e r ea sev en t -d r iv enc on t r o l l e r s . A sw i thth ee s t ab l i sh edb en chm a rk ,on ew e eko f ev o lu t ioni scon s id e r ed .F i gu r e s( 3 )and( 4 )show th eev o lu t iono ffi f tht ankd i s s o lv edoxy g enand s e condanox i ct ankn i t r a t e sc on c en t r a t i on sa long w i thth eco r r e spond in gm an ipu l a t edv a r i ab l e s .I t canb es e enth a tth et r a c k in gp e r f o rm an c eo fth e ev en t -b a s edc on t r o l l e r si ssup e r i o rt oth a ton eo f th eP Icon t r o l l e r sp r o v id ed b yth eb en chma rk . Th eb en efi t sa r er em a rk ab lyb e t t e rinth e NO2 loop , wh e r em o r ea c cu r a t et r a c k in gi sa ch i ev ed . Inth eDO5c on t r o ll oop ,qu i t eh i ghp r e c i s ioni s a l r eadya ch i ev edbyth eb en chm a rkc on t r o l l e r .In th eso lu t ionp r o v id edh e r e ,inadd i t i on w i thth e s l igh tt ra ck in ge r r o rr edu c t i on ,th e r ei sth efa c t tha tDOm ea su r e sa r en e ed edw i thju s ton em inu t e samp l ing . Th i spo in tw i l la l l ow ,f o rex amp l e ,th e u s eo fmod e rnsm a r ts en s o r sw i thw i r e l e s sc ommu n i ca t ioncapab i l i t i e sb yimpo s in gl ow e rd a t at ran s m i s s ionn e ed s .. t iv e lyth et ra ck ingp e r fo rman c eo fbo thloop si s c l ea r lysup e r io rinab so lu t eandagg r ega t edt e rm s . How ev e r ,i ti sw e l l knowntha tsom e t im e s ,to a ch i ev eth i sin c r em en tint ra ck ingp e r fo rman c ea t loopl ev e l ,ha ssma l lr ep e r cu s s ion sa tp lan tl ev e l o rev en ti t mayin c r ea s eth eov e ra l lco s t sa tth e exp en s e so fno timp rov ingth ep lan tt r ea tm en t effi c i en cy . Inth i sca s e ,th ep ropo s edcon t ro l l e r s a ch i ev eanond e sp r e c iab l eimp rov em en tonth e p lan tt r ea tm en tcapa c i tya tth eexp en s e so fp ra c t i ca l lyth esam eov e r a l lco s t .C l ea r ly ,th eav e rag e o fefflu en tnu t r i en tcon c en t ra t ion sa sw e l la sefflu en tl im i tv io la t ion sa r es l i gh t lyimp rov ed .. F igu r e3 : SO5 con t ro lloop p e r fo rman c e and KLa5 man ipu la t edv a r iab l e. Th e ma inimp a c to fth eev en t -b a s edimp l em en ta t ioncanb es e eninth em an ipu l a t edv a r iab l e s . Wh e r ea sfo rth ed i s s o lv edo xy g enc on t r o ll oop ,th e con t ro ls igna lf o l l ow sav e rys im i l a rp a t t e rn(w i th v e rys l igh td iff e r en c e s ) ,th ein t e rn a lr e c i r cu la t ion flowra t e ha sh i gh e rb andw id th a sth e ma jo r r e spon s ib l efo rth et r a c k in gimp r o v em en t . F igu r e s(5 )and( 6 )sh owa m o r ed e t a i l edv i ewo f th eop e ra t iono fbo thl oop sdu r in gd a y8 th .A sex p e c t ed ,th enumb e ro fev en t si s mu ch m o r ed en s e wh enth ed i s tu rb an c een t e r sin t oeff e c tandth e con t ro l l edv a r i ab l ei sd r iv enaw a yf r omth er e f e r en c ev a lu e .Inbo thc a s e s ,i tc anb eapp r e c ia t ed tha twh enth ec on t r o l l edv a r i ab l esuff e r sh ighd e v ia t ionf romth er e f e r en c ev a lu e ,anh i gh e rnum b e ro fev en t sa r eg en e r a t edth a tc o r r e spond sto a mo r econ t inu ou sc on t r o la c t i on( a lw ay sw i th in th ee s tab l i sh eds amp l et im e s )th a ti ss l i gh t lyan t i c ipa t edw i thr e sp e c tt oth eb en chm a rkon e . A mo r equan t i t a t iv ep e r f o rm an c ec omp a r i soni s shownintab l e( 3 )wh e r eth em e t r i c sp r o v id edby th eBSM1s c en a r i oa r eemp l o y ed .P e r f o rman c ea t bo thcon t ro ll oopandp l an tl ev e la r eu s ed . Eff e c -. F igu r e4 : SNO2 con t ro lloopp e r fo rman c eand Qintrman ipu la t edv a r iab l e. 5 Con c lu s ion s Th i spap e rha sana ly s edth eapp l i ca t iono fth e ev en t -b a s eds t ra t egyfo rth econ t ro lo fth etw o ba s i cloop sin w a s t ew a t e rt r ea tm en tp lan t s . th e ev en t -b a s edcon t ro l l e r sa r ed efin edint e rm so fth e IMCcon t ro lfo rmu la t ion . Th i sfo rmu la t ionp ro v id e sth en i c ef ea tu r eo fa l low ingtos e l e c tth eba s i ccon t ro l l e r sw i th ou tth en e edtoth inkin toth e ev en t -b a s eds t ra t eg i e s .A sas e conds t ep ,th econ t ro l l e ri simp l em en t edin toth eev en t -ba s edfo rmu -. 504.

(7) T ab l e3 :B en chm a rkD e f au l tCon t ro l(DC )andEv en t -Ba s ed(EB )con t ro lcompa r i son . D r y. R a in S to rm EB DC EB DC EB NO2lo op 3 IAE( gN/m d) 1 .25 0 .26 1 .57 0 .40 1 .52 0 .40 32 ISE( gN/m)d 0 .47 0 .02 0 .70 0 .06 0 .70 0 .07 3 Maxd ev ia t ion gN/m 0 .86 0 .22 0 .90 0 .52 1 .0 0 .60 DO5lo op IAEg( −COD) /m3d 0 .25 0 .14 0 .21 0 .12 0 .24 0 .13 ISE( g( −COD) /m3) 2 d 0 .02 0 .005 0 .02 0 .003 0 .02 0 .005 Maxd ev ia t ion g( −COD) /m3 0 .26 0 .11 0 .24 0 .1 0 .26 0 .11 Efflu en ta v e r a g ec on c en t r a t ion s 3 SNH( l im i t =4gN/m ) 2 .53 2 .45 3 .21 3 .35 3 .05 3 .07 3 TSS( l im i t =3 0gSS/m ) 13 ,0 13 .0 16 .17 16 .09 15 .27 15 .28 T o ta lN( l im i t =1 8gN/ l ) 16 ,89 16 .74 14 .71 14 .65 15 .83 15 .70 3 T o ta lCOD( l im i t =1 0 0gCOD/m ) 48 ,22 48 .21 45 .43 45 .32 47 .65 47 .66 3 BOD5( l im i t =1 0g/m ) 2 ,75 2 .75 3 .45 3 .45 3 .20 3 .20 Qua l i t y/Co s tva r ia b l e s EQ I(kgpo l l .un i t s /d a y ) 6115 ,63 6058 .26 8174 .98 8216 .17 7211 .48 7190 .45 OC I 16381 ,93 16382 .24 15984 .5 16035 .06 17253 .75 17250 .39 Efflu en tv io la t ion s 3 95%p e r c en t i l eo fe f .SNH( gN/m ) 7 .36 7 .02 8 .03 8 .0 7 .76 7 .62 3 95%p e r c en t i l eo fe f .t o t a l( gN/m ) 15 .77 15 .73 19 .07 18 .6 20 .03 19 .61 3 95%p e r c en t i l eo fe f . TSS( gCOD/m ) 20 .18 19 .70 21 .70 21 .6 20 .78 20 .76 DC. F igu r e5 : SO5 c on t r o ll oop p e r f o rm an c e and KLa5 fo ron ed a ysh ow in gev en tg en e r a t i on. F igu r e6 : SNO2 con t ro lloopp e r fo rman c eand Qintrfo ron edayshow ingev en tg en e ra t ion. la t ionw i thou tn e edf o ran yo th e rch an g e .. u sua lIMCapp roa chtha tu s mo r ea im eda ts e t po in tfo l l ow ing .T oth i send ,th ed i r e c t syn th e s i s app roa chfo rloadd i s tu rban c ew i l lr e su l tp rom i s inga si ta l sosha r e sth esam ed e s ignp r in c ip l e sa s th eIMCcon t ro l l e r .. Th eev en t -ba s ed app r o a ch h a sb e enc ompa r ed w i thth ed e fau l tc on t r o l l e r sp r o v id edinth eb en ch ma rktha ta r eimp l em en t eda sc on t inu ou sP Icon t ro l l e r s .I th a sb e ens e enth a tth eev en t -ba s ed app roa chou tp e r f o rm sth ec on t inu ou son ebo tha t loopl ev e landa to v e r a l lop e r a t i on a ll ev e l . A sth ep rob l emt a c k l edinth i sp ap e ri s ,b a s i ca l ly , ar egu la t ionp r ob l emwh e r eth ec on t r o l l e r sta ski s ba s i ca l lytoa t t enu a t eth eeff e c to finflu en tload inpu td i s tu rb an c e s ,i tw ou lda l s ob ein t e r e s t ingto s tudyth eu s eo fo th e rs o lu t i on sr a th e rthanth e. A cknow ledgemen t Th i sw o rkw a spa r t ia l lysuppo r t edbyth eSpan i sh M in i s t ryo fE conomyand Comp e t i t iv en e s sp ro g ram und e r M INECO/FEDERg ran t DP I2016 77271 -R. 505.

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