Prescribed Performance Fault-Tolerant Optimal Control for Wastewater Treatment Process With Multivariable

Recently, the wastewater treatment process has become an effective tool to improve the ecological environment. Due to the inevitable actuator faults, the load capacity of the equipment and the purification efficiency of the wastewater are reduced. How to improve the purification and economic efficiency is a huge challenge. Therefore, a prescribed performance-based fault-tolerant optimal control method with multivariable is designed in this article. First, the error transformation function-based prescribed performance is introduced to achieve stable tracking control. Second, the fault approximation based adaptive control method is used to solve the problem of unavoidable actuator faults. Subsequently, the multivariable optimal controller is structured to guarantee the control accuracy and equipment energy consumption simultaneously. Finally, the steady state and transient performance are analyzed and the optimality is verified by some experiments.