1597

978-1-4244-1734-6/08/$25.00 c© 2008 IEEE

=+

=

=

+

+

+

==

=−+

−++−+

−

=

+Δ+

−=≤+≤

−++

Δ

−+−+=+Δ

1598 2008 Chinese Control and Decision Conference (CCDC 2008)

+

∈

∈

{ }=

=

+

−−++=+

≤≤

>+

[ ]≤=

++

+

+−=

+−=

=+−−+−−−

−=

2008 Chinese Control and Decision Conference (CCDC 2008) 1599

0 50 100 150 200 250 3005

6

7

8

9

10

11

12

validation data

pH

real values predictive values

×

0 5 10 15 20 25 30 356.96

6.98

7

7.02

7.04

7.06

7.08

7.1

7.12

7.14

Sampling Instant

pH

real response

reference trajectoryset point

1600 2008 Chinese Control and Decision Conference (CCDC 2008)

0 5 10 15 20 25 30 35250

260

270

280

290

300

310

Sampling Instant

Bas

e F

low

Rat

e (l/

min

)

0 20 40 60 80 100 120 140 160 180 2000

0.02

0.04

0.06

0.08

0.1

0.12

0.14

Number of Iteration

Val

ue o

f th

e O

bjec

tive

Fun

ctio

n

0 5 10 15 20 25 30 35 406.96

6.98

7

7.02

7.04

7.06

7.08

7.1

7.12

7.14

Sampling Instant

pH

real response

set-point

0 5 10 15 20 25 305.2

5.4

5.6

5.8

6

6.2

6.4

6.6

6.8

7

7.2

Sampling instant

pH

real response

set point

0 5 10 15 20 25 30 355.4

5.6

5.8

6

6.2

6.4

6.6

6.8

7

7.2

Sampling Instant

pH

real response

reference trajectoryset-point

2008 Chinese Control and Decision Conference (CCDC 2008) 1601

0 5 10 15 20 25 30 355.4

5.6

5.8

6

6.2

6.4

6.6

6.8

7

7.2

Sampling Instant

pH

real response

reference trajectoryset-point

1602 2008 Chinese Control and Decision Conference (CCDC 2008)