Linear active disturbance rejection control for a raceway photobioreactor

In this paper, the problem of pH regulation in photobioreactors has been addressed by using a robust Proportional–Integral controller in combination with a linear active disturbance rejection approach. This formulation is based on the Generalized Proportional–Integral (GPI) observers design to estimate online external disturbances and non-modeled dynamics. The methodology uses a model reference optimization procedure with tracking and regulatory target closed-loop transfer functions for first-order plus dead-time models. The proposed controller is validated on a full-scale Raceway photobioreactor, whose results show a significant improvement in the accuracy of pH regulation and, consequently, a positive influence on biomass production. Moreover, a classical feedforward approach has been used for comparison purposes. The performance of the robust technique is evaluated with different indexes, whose results confirm the good performance of the proposed active disturbance rejection control scheme.