Abstract
This paper deals with the experimental description, mathematical modeling and
recursive feedback control of a pilot-scale biogas anaerobic plant. Based on experimental results
obtained during the start-up and operating of a pilot bioreactor, a five-order continuous-time
anaerobic digestion model is obtained. Output trajectory tracking and disturbance compensation
for the bioprocess model are realized using a new composed recursive controller comprising a
recursive model free stabilization term and a recursive time delay compensation term. The
performances of the new bioprocess controller are compared by numerical simulation with the
performances of an existing nonlinear proportional-integral controller.
