Multi-variable PID control design for wastewater system

N. Abdul Wahab, M.R. Katebi, J. Balderud

Research output: Contribution to conferencePaperpeer-review

19 Citations (Scopus)


This paper investigates the application of multivariable PID controllers to a wastewater treatment process. Four multivariable PID control schemes are investigated. The methods considered are those suggested by Davison, Penttinen- Koivo, Maciejowski and a new method proposed in this paper. All of the methods are suitable for multi-input multi-output (MIMO) control loops that experience loop interaction. The methods, furthermore, requires only simplistic plant models. The performance of the methods is assessed using a nonlinear benchmark model, and the optimal tuning values are determined using an optimisation method. The simulation results show the significance of the study and lead to the conclusion that the proposed method yields somewhat better results than other methods with respect to decoupling capabilities and closed-loop performance.
Original languageEnglish
Number of pages5
Publication statusPublished - 27 Jul 2007
Event15th IEEE Mediterranean Conference on Control and Automation, (MED07), 27-29 June 2007 - Athens, Greece
Duration: 27 Jun 200729 Jun 2007


Conference15th IEEE Mediterranean Conference on Control and Automation, (MED07), 27-29 June 2007
CityAthens, Greece


  • multivariable PID
  • wastewater systems
  • optimisation
  • controller tuning


Dive into the research topics of 'Multi-variable PID control design for wastewater system'. Together they form a unique fingerprint.

Cite this