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Indeed, we add two additional control ... [more ▼]In this thesis, we propose a formal modelling framework for the anaerobic digestion process, where we add more degrees of freedom in the control of biogas production. Indeed, we add two additional control inputs to the standardized AM2 (Acidogenesis Methanogenesis, 2 steps) model, re ecting addition of stimulating substrates which enhance the biogas quality and quantity. Then, we describe how the parameters of the resulted nonlinear model can be identi ed, and we analyse the positiveness and boundedness of its state variables. Based on the derived mathematical model and the analysis results, we design di erent software sensors to overcome the lack of reliable and cheap sensors. Indeed, we present a general class of systems to which the considered process model belongs. Then, we design an LMI-based invariant like observer as well as an LMI-based nonlinear observer of the same form as the generalized Arcak's observer. Furthermore, with the aim to render the observer design more robust to disturbances, we include the H1 criterion in its synthesis. Also, to promote the use of the proposed observers in real applications, we extend the methodology to the discrete time case and to the case of nonlinear systems with nonlinear outputs. For the di erent observers design, we use the di erential mean value theorem which allows the transformation of the nonlinear estimation error to a linear parameter varying system. Then, we use the Lipschitz conditions and the Lyapunov standard function to synthesize the stability conditions in the form of linear matrix inequalities. Finally, we enhance the feasibility of the later conditions by using a judicious reformulation of the Young's inequality. In the thesis, we also deal with the process control where we propose a control strategy to track an admissible reference trajectory planned by the plant operator. Moreover, to account for the partial availability of the state vector measurements, we include an exponential nonlinear observer in the control synthesis. Thus, we design an observer based tracking control scheme. To perform the stability analysis of the closed loop system, composed of the system, the observer and the controller, we use the Barbalat's lemma conjointly with the techniques already mentioned for the observers design. Finally, we propose two different methods to compute the controller and the observer parameters. In the first one, we propose to compute them separately. While, in the second one we compute the parameters simultaneously. [less ▲]Detailed reference viewed: 65 (13 UL) LMI-Based H_infty Nonlinear State Observer Design for Anaerobic Digestion ModelChaib Draa, Khadidja ; Voos, Holger ; Alma, Marouane et alin IEEE Mediterranean Conference on Control and Automation, Valletta 3-6 July 2017 (2017, July)This note deals with the design of an $H_{\infty}$ nonlinear state observer for the anaerobic digestion model. Positively, the designed observer is an unified one that can be used for different class of ... [more ▼]This note deals with the design of an $H_{\infty}$ nonlinear state observer for the anaerobic digestion model. Positively, the designed observer is an unified one that can be used for different class of systems, mainly linear systems, Linear Parameter Varying (LPV) systems with known and bounded parameters, and nonlinear Lipschitz systems. Applying the Lyapunov theory and theH¥ criterion, Linear Matrix Inequality (LMI) condition is synthesised and solved to obtain the designed observer gains. The novelty of our work consists in the relaxation of the synthesized LMI condition through the inclusion of additional decision variables. This was possible due to the use of a suitable reformulation of the Young’s inequality. Stability, effectiveness and potency of the theoretical results are confirmed by the simulation results. [less ▲]Detailed reference viewed: 21 (3 UL) An LMI-Based H_infty Discrete-Time Nonlinear State Observer Design for an Anaerobic Digestion ModelChaib Draa, Khadidja ; Voos, Holger in World Congress of the International Federation of Automatic Control, Toulouse 9-14 July 2017 (2017, July)This paper is devoted to the design of an H1 discrete-time nonlinear state observer for an anaerobic digestion model. Indeed, the designed observer can be used for di erent class of systems, mainly linear ... [more ▼]This paper is devoted to the design of an H1 discrete-time nonlinear state observer for an anaerobic digestion model. Indeed, the designed observer can be used for di erent class of systems, mainly linear systems, LPV systems with known and bounded parameters, and nonlinear Lipschitz systems. We use an LMI approach to guarantee the H1 asymptotic stability of the estimation error despite the disturbances a ecting the system dynamics and measurements. The synthesised LMI is relaxed due to the inclusion of additional decision variables which enhance its feasibility. This was possible due to the use of a suitable reformulation of the Young's inequality. Simulation results are given to show the robustness of the designed observer. [less ▲]Detailed reference viewed: 24 (3 UL) LMI-Based Discrete-Time Nonlinear State Observer for an Anaerobic Digestion ModelChaib Draa, Khadidja ; Voos, Holger ; Alma, Marouane et alin IEEE International Conference on Systems and Control, Batna 7-9 May 2017 (2017, May)This paper deals with the design of a discrete time nonlinear observer for an anaerobic digestion process. The designed observer is devoted to a general class of systems, precisely linear systems, LPV ... [more ▼]This paper deals with the design of a discrete time nonlinear observer for an anaerobic digestion process. The designed observer is devoted to a general class of systems, precisely linear systems, LPV systems with known and bounded parameters, and nonlinear Lipschitz systems. In order to ensure stability of the estimation error, a new LMI condition is proposed. In this LMI, additional decision variables are included to enhance its feasibility. Indeed, this was possible due to the use of a suitable reformulation of the Young’s inequality. Numerical simulations using the investigated two-step anaerobic digestion model show the effectiveness of the proposed LMI methodology. [less ▲]Detailed reference viewed: 17 (0 UL) Invariant Observer Applied to Anaerobic Digestion ModelChaib Draa, Khadidja ; Voos, Holger ; Alma, Marouane et alin IEEE 21st International Conference on Emerging Technologies and Factory Automation (ETFA), Berlin, Germany, 2016 (2016, September)In this note, we design an invariant observer for a two step (acidogenesis-methanogenesis) mass balance nonlinear model, in order to estimate simultaneously all bacteria and substrate concentrations found ... [more ▼]In this note, we design an invariant observer for a two step (acidogenesis-methanogenesis) mass balance nonlinear model, in order to estimate simultaneously all bacteria and substrate concentrations found in the anaerobic digestion process. The particularity of the designed observer is the use of only the methane flow rate which is cheap to measure and commonly measured online even at industrial scale. [less ▲]Detailed reference viewed: 25 (5 UL) Linearizing Control of Biogas Flow Rate and QualityChaib Draa, Khadidja ; Voos, Holger ; Alma, Marouane et alin 20th IEEE Int. Conference on Emerging Tecnologies and Factory Automation ETFA 2015, Luxembourg, 8-11 Sept. 2015 (2015, September)In this paper, we propose to control the quantity and quality of the produced biogas from the anaerobic digestion of organic matter, digested in either a continuous stirred tank reactor or a fixed bed ... [more ▼]In this paper, we propose to control the quantity and quality of the produced biogas from the anaerobic digestion of organic matter, digested in either a continuous stirred tank reactor or a fixed bed digester. This is motivated by the aim of providing the power grid with a stable amount of energy despite fluctuations in the treated waste concentration and composition. Therefore, we apply the linearizing control principe to a two step (acidogenesis-methanogenesis) mass balance non linear model, all with the introduction of two new control inputs reflecting the addition of stimulating substrates (acetate and alkalinity). To show the performance of the synthesized control laws we simulate the process under an organic shock load feeding. [less ▲]Detailed reference viewed: 62 (14 UL) Adaptive Control for the Methane Flow rate in Biogas PlantsChaib Draa, Khadidja ; Voos, Holger ; Alma, Marouane et alin 3rd IEEE Int. Conference on Control, Engineering and Information Technology, Tlemcen, Algeria, 2015 (2015, May)In this paper we consider the control of the methane flow rate in biogas production using both a continuous stirred tank reactor and a fixed bed digester. The goal is to regulate the methane flow rate in ... [more ▼]In this paper we consider the control of the methane flow rate in biogas production using both a continuous stirred tank reactor and a fixed bed digester. The goal is to regulate the methane flow rate in order to match an energy demand in spite of variations in the waste concentrations. For this purpose, a two step (acidogenesis-methanogenesis) nonlinear mass balance model is considered. Due to the costs and complexity of the measurements an adaptive observer is designed for the acidogenesis reaction rate. The stability of the observation part is proved and its implementation with the designed adaptive control law for the methane flow rate and the acetate concentration in the reactor are confirmed by simulations. [less ▲]Detailed reference viewed: 77 (13 UL) A Formal Modeling Framework for Anaerobic Digestion SystemsChaib Draa, Khadidja ; Voos, Holger ; Darouach, Mohamedin IEEE UKSim-AMSS Int. Conference on Modelling and Simulation, Cambridge, UK, 2015 (2015, March)The complexity of modeling the anaerobic digestion process meets the difficulty to describe and analyze them mathematically. In this paper, a simplified mathematical model for anaerobic digestion process ... [more ▼]The complexity of modeling the anaerobic digestion process meets the difficulty to describe and analyze them mathematically. In this paper, a simplified mathematical model for anaerobic digestion process of organic matter, in a continuous stirred tank reactor is proposed. With the aim of upgrading the produced biogas and integrate biogas plants in a virtual power plant, new control inputs reflecting addition of stimulating substrates (acetate and bicarbonate) are added. Based on two step (acedogenesis-methanogenesis) mass balance non linear model, a step-by-step model parameter’s identification procedure is presented in the first step, then in the second step, the yield coefficients and the microbial growth rates are estimated when the later is assumed to be unknown a priori. [less ▲]Detailed reference viewed: 48 (11 UL) 1