State estimation in wastewater engineering: Application to an anaerobic process.

The use of an extended Kalman filter for state estimation in biological wastewater treatment processes is discussed. The application of the technique requires an adequate mechanistic dynamic model and the identification and modelling of the major sources of stochastic disturbances in the process. The filter allows the on-line tracking of process variables which are not directly measurable. The use of an extended Kalman filter is illustrated through a simulated application to a high rate anaerobic wastewater treatment process.