None; None; None; None

Abstracts

We consider a three-dimensional deterministic control model of the process of aerobic wastewater biotreatment. For this model, we formulate and solve two optimal control problems, each of which has a corresponding minimizing functional. For the first problem, the functional is a weighted sum of the pollutant concentration at the end of a fixed time interval and the cumulative biomass concentration over the interval. For the second problem, the functional is a weighted sum of the pollutant concentration at the end of the time interval and the cumulative oxygen and biomass concentrations over the interval. In order to solve these problems, we apply the Pontryagin Maximum Principle. The switching functions are analytically investigated and uniquely determine the type of the optimal controls for the considered problems. Their properties allow the simplification of the optimal control problems to that of finitedimensional constrained minimization. Numerical solutions of the optimal control problems are also provided.

wastewater treatment; nonlinear model; optimal control

Consideramos un modelo de control determinístico tridimensional del proceso de biotratamiento aeróbico de aguas residuales. Para este modelo, formulamos y resolvemos dos problemas de control óptimo, cada uno de los cuales tiene un funcional a minimizar. Para el primer problema, el funcional es una suma ponderada de la concentración del contaminante al final de un intervalo de tiempo fijo y la concentración acumulada de la biomasa sobre el intervalo. Para el segundo problema, el funcional es una suma ponderada de la concentración del contaminante al final del intervalo de tiempo y las concentraciones acumuladas de oxígeno y biomasa sobre el intervalo. Para resolver estos problemas, aplicamos el Principio del Máximo de Pontryagin. Las funciones de conmutación son investigadas analíticamente y determinan unívocamente el tipo de controles óptimos para los problemas considerados. Sus propiedades permiten la simplificación de los problemas de control óptimo para una minimización finitodimensional con restricciones. Se brindan las soluciones numéricas de los problemas de control óptimo.

tratamiento de aguas residuales; modelo no lineal; control óptimo

Analysis of optimal control problems for the process of wastewater biological treatment

Análisis de problemas de control óptimo para el proceso de tratamiento biológico de aguas residuales

Elina V. Grigorieva^*+, Natalia V. Bondarenko^†+, Evgenii N. Khailov^‡+, Andrei Korobeinikov^§+

*^{Dirección para correspondencia}^:
Abstract

We consider a three-dimensional deterministic control model of the process of aerobic wastewater biotreatment. For this model, we formulate and solve two optimal control problems, each of which has a corresponding minimizing functional. For the first problem, the functional is a weighted sum of the pollutant concentration at the end of a fixed time interval and the cumulative biomass concentration over the interval. For the second problem, the functional is a weighted sum of the pollutant concentration at the end of the time interval and the cumulative oxygen and biomass concentrations over the interval. In order to solve these problems, we apply the Pontryagin Maximum Principle. The switching functions are analytically investigated and uniquely determine the type of the optimal controls for the considered problems. Their properties allow the simplification of the optimal control problems to that of finitedimensional constrained minimization. Numerical solutions of the optimal control problems are also provided.

Keywords: wastewater treatment, nonlinear model, optimal control.

Resumen

Consideramos un modelo de control determinístico tridimensional del proceso de biotratamiento aeróbico de aguas residuales. Para este modelo, formulamos y resolvemos dos problemas de control óptimo, cada uno de los cuales tiene un funcional a minimizar. Para el primer problema, el funcional es una suma ponderada de la concentración del contaminante al final de un intervalo de tiempo fijo y la concentración acumulada de la biomasa sobre el intervalo. Para el segundo problema, el funcional es una suma ponderada de la concentración del contaminante al final del intervalo de tiempo y las concentraciones acumuladas de oxígeno y biomasa sobre el intervalo. Para resolver estos problemas, aplicamos el Principio del Máximo de Pontryagin. Las funciones de conmutación son investigadas analíticamente y determinan unívocamente el tipo de controles óptimos para los problemas considerados. Sus propiedades permiten la simplificación de los problemas de control óptimo para una minimización finitodimensional con restricciones. Se brindan las soluciones numéricas de los problemas de control óptimo.

Palabras clave: tratamiento de aguas residuales, modelo no lineal, control óptimo.

Mathematics Subject Classification:49J15, 49N90, 93C10, 93C95.

Contenido disponible en pdf

References

References

[1] Bondarenko, N.V.; Grigorieva, E.V.; Khailov, E.N. (2010) “Attainable set of three-dimensional nonlinear system describing the wastewater treatment process”, in: Yu.S. Osipov & A.V. Kryazhimskii (Eds.) Problems of Dynamical Control, 5, MAX Press, Moscow: 28–41.
[2] Gomez, J.; de Gracia, M.; Ayesa, E.; Garcia-Heras, J.L. (2007) “Mathematical modelling of autothermal thermophilic aerobic digesters”, Water Research41(5): 959–968.
[3] Grigorieva, E.; Bondarenko, N.; Khailov, E.; Korobeinikov, A. (2012) “Finite-dimensional methods for optimal control of autothermal thermophilic aerobic digestion”, in: K.Y. Show & X. Guo (Eds.) Industrial Waste, InTech, Croatia: 91–120.
[4] Grigorieva, E.V.; Bondarenko, N.V.; Khailov, E.N.; Korobeinikov, A. (2012) “Three-dimensional nonlinear control model of wastewater biotreatment”, Neural, Parallel, and Scientific Computations20: 23–36.
[5] Grigorieva, E.V.; Khailov, E.N.; Korobeinikov, A. (2012) “Reduction of the operation cost via optimal control of an industrial wastewater biotreatment process”, in: http://jointmathematicsmeetings.org/amsmtgs/2138 abstracts/1077-g5-1378.pdf.
» http://jointmathematicsmeetings.org/amsmtgs/2138 abstracts/1077-g5-1378.pdf
[6] Krasnov, K.S.; Vorob’ev, N.K.; Godnev, I.N.; et al. (1995) Physical Chemestry2. Vysshaya Shkola, Moscow.
[7] Lee, E.B.; Marcus, L. (1967) Foundations of Optimal Control Theory. John Wiley & Sons, New York.
[8] Pontryagin, L.S.; Boltyanskii, V.G.; Gamkrelidze, R.V.; Mishchenko, E.F. (1962) Mathematical Theory of Optimal Processes. John Wiley & Sons, New York.
[9] Rojas J.; Burke, M.; Chapwanya, M.; Doherty, K.; Hewitt, I.; Korobeinikov, A.; Meere, M.; McCarthy, S.; O’Brien, M.; Tuoi, V.T.N.; Winstenley, H.; Zhelev, T. (2010) “Modeling of autothermal thermophilic aerobic digestion”, Mathematics-in-Industry Case Studies2: 34–63.
[10] Vasil’ev, F.P. (2002) Optimization Methods. Factorial Press, Moscow.

^*Correspondencia a:

Elina V. Grigorieva.

Department of Mathematics and Computer Sciences, Texas Woman’s University, Denton, TX 76204, U.S.A. E-Mail: EGrigorieva@mail.twu.edu

Natalia V. Bondarenko.

Department of Computational Mathematics and Cybernetics, Moscow State Lomonosov University, Moscow, 119992, Russia. E-Mail: nataliabonda@mail.ru

Evgenii N. Khailov.

Same address as/Misma dirección que: N.V. Bondarenko. E-Mail: khailov@cs.msu.su

Andrei Korobeinikov.

Centre de Recerca Matemática, Campus de Bellaterra, Edifici C - 08193 Bellaterra, Barcelona, Spain. E-Mail: AKorobeinikov@crm.cat

^*Department of Mathematics and Computer Sciences, Texas Woman’s University, Denton, TX 76204, U.S.A. E-Mail: EGrigorieva@mail.twu.edu

^†Department of Computational Mathematics and Cybernetics, Moscow State Lomonosov University, Moscow, 119992, Russia. E-Mail: nataliabonda@mail.ru

^‡Same address as/Misma dirección que: N.V. Bondarenko. E-Mail: khailov@cs.msu.su

^§Centre de Recerca Matemática, Campus de Bellaterra, Edifici C - 08193 Bellaterra, Barcelona, Spain. E-Mail: AKorobeinikov@crm.cat

Received: 27/Feb/2012; Revised: 16/May/2013; Accepted: 24/May/2013

Publication Dates

Publication in this collection
12 Mar 2014
Date of issue
Dec 2013

History

Received
27 Feb 2012
Reviewed
16 May 2013
Accepted
24 May 2013

[1] [1] Bondarenko, N.V.; Grigorieva, E.V.; Khailov, E.N. (2010) “Attainable set of three-dimensional nonlinear system describing the wastewater treatment process”, in: Yu.S. Osipov & A.V. Kryazhimskii (Eds.) Problems of Dynamical Control, 5, MAX Press, Moscow: 28–41.

[2] [2] Gomez, J.; de Gracia, M.; Ayesa, E.; Garcia-Heras, J.L. (2007) “Mathematical modelling of autothermal thermophilic aerobic digesters”, Water Research41(5): 959–968.

[3] [3] Grigorieva, E.; Bondarenko, N.; Khailov, E.; Korobeinikov, A. (2012) “Finite-dimensional methods for optimal control of autothermal thermophilic aerobic digestion”, in: K.Y. Show & X. Guo (Eds.) Industrial Waste, InTech, Croatia: 91–120.

[4] [4] Grigorieva, E.V.; Bondarenko, N.V.; Khailov, E.N.; Korobeinikov, A. (2012) “Three-dimensional nonlinear control model of wastewater biotreatment”, Neural, Parallel, and Scientific Computations20: 23–36.

[5] [5] Grigorieva, E.V.; Khailov, E.N.; Korobeinikov, A. (2012) “Reduction of the operation cost via optimal control of an industrial wastewater biotreatment process”, in: http://jointmathematicsmeetings.org/amsmtgs/2138 abstracts/1077-g5-1378.pdf.
» http://jointmathematicsmeetings.org/amsmtgs/2138 abstracts/1077-g5-1378.pdf

[6] [6] Krasnov, K.S.; Vorob’ev, N.K.; Godnev, I.N.; et al. (1995) Physical Chemestry2. Vysshaya Shkola, Moscow.

[7] [7] Lee, E.B.; Marcus, L. (1967) Foundations of Optimal Control Theory. John Wiley & Sons, New York.

[8] [8] Pontryagin, L.S.; Boltyanskii, V.G.; Gamkrelidze, R.V.; Mishchenko, E.F. (1962) Mathematical Theory of Optimal Processes. John Wiley & Sons, New York.

[9] [9] Rojas J.; Burke, M.; Chapwanya, M.; Doherty, K.; Hewitt, I.; Korobeinikov, A.; Meere, M.; McCarthy, S.; O’Brien, M.; Tuoi, V.T.N.; Winstenley, H.; Zhelev, T. (2010) “Modeling of autothermal thermophilic aerobic digestion”, Mathematics-in-Industry Case Studies2: 34–63.

[10] [10] Vasil’ev, F.P. (2002) Optimization Methods. Factorial Press, Moscow.