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This article proposes a variable-gain state observer-based sliding mode self-healing control (VSO-based SMSHC) method for a wastewater treatment process (WWTP) with changeable external disturbances and sensor failures. To reconstruct the disturbances and unmeasured system states, a novel VSO is developed, in which the VSO gains are adjusted by following an automatic variable-gain mechanism for adapting to the variation of external disturbances. An adaptive compensation coefficient of failure factor is designed to counteract the failure effects on observation and tracking performance. By utilizing the cubic absolute-value Lyapunov stability criterion, it is shown that system stability and tracking performance of WWTP are guaranteed. Experimental studies are carried out on a standardized platform of WWTP, and the results on dissolved oxygen and nitrate nitrogen regulation indicate that the proposed control strategy can ensure excellent control performance and reduce both failure and disturbance impacts.
Du et al. (Tue,) studied this question.