Dynamic Learning Rate (D) for Recurrent High Order Neural Observer (RHONO): Anaerobic Process Application

K. J. Gurubel1, E. N. Snchez1 and S. Carlos-Hernndez2

2011 International Joint Conference on Neural Networks San Jose, California July 31 - August 5, 2011

Guadalajara 2Cinvestav Unidad Saltillo

1

1Cinvestav Unidad

OBJECTIVE
In order to increase the performance of the neuronal observer, a dynamic learning rate (D) for the EKF training algorithm is proposed which depends on operations condition for a system under control, in order

to improve the learning of the neuronal network in presence of disturbances. Considering that the pH is online measured, this variable is used to determine the proposed D.

INTRODUCTION
Anaerobic digestion is a biological process in which organic

matter (substrate) is degraded by anaerobic bacteria (biomass), in absence of oxygen. Such degradation produces biogas, consisting primarily of methane (CH4) and carbon dioxide (CO2), and stable organic residues.

Anaerobic process is a complex and sequential process

which occurs in four basic stages: Hydrolysis, Acidogenesis, Acetogenesis y Methanogenesis. Each stage has a specific dynamics; methanogenesis which is the slowest one imposes the dynamics of the process and is considered as the critical stage. Then, special attention is focused on methanogenesis. This process is developed in a continuous stirred tank reactor (CSTR) with biomass filter.
3

INTRODUCTION
Different biogas sensors have been developed in order to

measure CH4; however, substrate and biomass measures are more restrictive. nonlinear systems in presence of external disturbances and parameter uncertainties is proposed in a previous work for estimate unmeasurable variables.

A nonlinear discrete-time neural observer for unknown

The neural observer is based on a discrete-time recurrent

high-order neural network trained with an extended Kalman-filter based algorithm. The objective is to estimate biomass concentration, substrate degradation and inorganic carbon in the anaerobic process.
4

MATHEMATICAL MODEL
The biological phenomena are modeled by ordinary

differential equations, which represent the dynamical part of the process dX 1 1 k d 1 X 1 ,

dt dS1 R6 1 X 1 Din S1in S1 , dt dX 2 2 k d 2 X 2 , dt dS 2 R3 2 X 2 R4 1 X 1 Din S 2in S 2 , dt dIC R2 R3 2 X 2 R5 1 X 1 R1 R3 2 X 2 dt Din ICin IC , dZ Din Z in Z dt
5

MATHEMATICAL MODEL
where X 1, corresponding to hydrolytic, acidogenic and 1 acetogenic bacteria and X 2 , corresponding to X2 methanogenic bacteria. On the other hand, the organic load is classified in S11, the components equivalent S S2 glucose, which model complex molecules and S2 , the 1 components equivalent acetic acid. 1 is the growth rate X h 1 2 (Haldane type) of X11 (h1), 2 the growth rate (Haldane kd 2 X X 1 mol L1 h 1 k d 1 type) of X22 (h1), kd1 the death rate of X1 (mol L1), kd2 Din mol L1 X the death rate of X2 (mol L1), Din the dilution rate S1in mol L1 (h1), S1in the fast degradable substrate input (mol1 L1), h 1 S 2 in mol L IC S2in the slow degradable substrate input (mol L1), IC Z mol L1 inorganic carbon (mol L1), Z the total of cations Z in mol L1 mol L IC in (mol L1), ICin the inorganic carbon input (mol L1), Zin the input cations (mol L-1), is a coefficient considering mol L1 law of partial pressure for the dissolved CO2 and R1 . . .,R6 R1,,..., R6 are the yield coefficients.
2
1

DISCRETE-TIME RHONO
The discrete-time RHONO estimates the variables of the

methanogenesis stage: biomass ( X 2 ), substrate ( S 22) and X2 S inorganic carbon ( IC The observability property of this IC). anaerobic digestion process was analyzed in a previous work.

Observer scheme
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DISCRETE TIME RHONO

2 X 2 k 1 w11S X 2 k w12 S X 2 k w13 S ICk w14 S 2 X 2 k Din k g1ek , 2 S 2 k 1 w21S S 2 k w22 S S 2 k w23 S ICk 2 w24 S S 2 k S 2in k g 2ek , 2 ICk 1 w31S ICk w32 S ICk w33 S X 2 k 2 2 w34 S ICk Din k w35 S ICk ICin k g 3ek ,

Observer structure
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DISCRETE TIME RHONO

w where wijij is the respective on-line adapted weight vector; S () IC X2, ,S2 and IC are the estimated states; S(.) is the sigmoid X S S ( x) tanh(x) Din function defined as S(x)= tanh(x); Din is the input dilution rate and e is the output error.

THE EKF TRAINING ALGORITHM

In this work, we use an EKF-based training algorithm

described by
wi k 1 wi k K i k ek ,
K i k Pi k H i k M i k

ek y k y k

Pi k 1 Pi k Ki k H i k Pi k Qi k
T

M i k R i k H i k Pi k H i k
T

, i 1,

,n
i i

where e k p is the output estimation error and Pi k L L is the weight estimation error covariance matrix, wi Li is the weight (state) vector, Li is the respective number of neural network weights
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THE EKF TRAINING ALGORITHM

y p is the plant output, y is the neural network output, n, is the number of states, K i L p is the Kalman
p
i

gain matrix, Qi L L , is the NN weight estimation noise p p covariance matrix, Ri , is the error noise covariance, and H i L p is a matrix, given as follows:
i i
i

y k H ij wij k

where i 1, , n and j 1, , Li .

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STATE ESTIMATION WITH

The process model and the observer are implemented

using Matlab/SimulinkTM. Nominal values of were determined in a previous work for each one of the estimated variables as: 1 for the estimation of X 2 , 2 for 2 S the estimation of S22 and 3 for the estimation of IC IC.

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STATE ESTIMATION WITH

In order to test the observer sensitivity to input changes, S 2 in a disturbance on the input substrate (270% S2in increase) is incepted at t = 200 h
0.3 0.25
S2in (mol/L)

0.2 0.15 0.1 0.05 0 500 1000 1500

Time (h)

S 2 in Disturbance in S2in
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STATE ESTIMATION WITH

0.015

X (UA)

0.01 0.005

X2 Estimated X2 System 0 500 Time (h) 1000 1500

0.03

S (mol/L)

0.02 0.01 0 0.3 500 Time (h) 1000

S2 Estimated S2 System 1500

IC (mol/L)

0.2 0.1 0 500 Time (h) 1000

IC2 Estimated IC2 System

1500

State estimation
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STATE ESTIMATION WITH

States estimation are obtained by the RHONO, with an error when the step on the input substrate is incepted, which is eliminated in the steady state. This error could be due to the observer structure; it is possible that the

NN is not able to learn all the nonlinear dynamics related to the variables.

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DYNAMIC LEARNING RATE

pH is a sensible and determining variable in the process

for the adequate growth of bacteria and then for the wastes transformation; therefore it is used to determine D as proportional ( ) to the on-line measurement substrate pH
1 .3 1 .2 1 .1

D pH

D
1 0.9 0.8 6

6.5

7 .5

p H

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DYNAMIC LEARNING RATE

In order to implement this time varying learning rate, the EKF training algorithm is modified as follows:
wi k 1 wi k Di K i k ei k ,

The other components of algorithm remain unchanged.

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SIMULATION RESULTS
With the purpose to analyze the effects of D, three tests are realized with different initial values (D0), and S 2 in considering the same disturbance on S2in. First, D0 equal to the nominal values (), second, D0 100 % larger than

nominal and third, D0 50 % smaller than nominal . These initial values are selected heuristic ally.

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TEST 1: D0 =
D1

1 0.95 0 500 Time (h) 1000 1500

D2

1
0.5 0.48 0 500 Time (h) 10 1000 1500

3
9.5 0 500 Time (h) 1000 1500

D3

Dynamic trajectories D
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TEST 1: D0 =
0.015

X (UA)

0.01 0.005

X2 Estimated X2 System 0 500 Time (h) 1000 1500

0.03

S (mol/L)

0.02 0.01 0 0.3 500 Time (h) 1000

S2 Estimated S2 System 1500

IC (mol/L)

0.2 0.1 0 500 Time (h) 1000

IC2 Estimated IC2 System

1500

State estimation
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TEST 1: D0 =
S2 X 2 and S2 are estimated with a smaller error when the

step on the input substrate is incepted. As is easy to see the error vanishes quickly. This error could be induced by the abrupt change in the system conditions. Since the pH measure is directly related to IC , this variable is IC estimated with a negligible error during all the simulation. In general, these estimation errors could be due to the observer structure, which is a simple one. The

proposed D with initial nominal values produces a diminution in the transient error as compared with results calculated with .

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TEST 2: D0 = 2 (100% larger)

2.2

D1

D1

1.8

500 Time (h)

1000

1500

1.1

D2

D2

0.9

500 Time (h)

1000

1500

21

D3

D3

20 19 18 0 500 Time (h) 1000 1500

Dynamic trajectories D
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TEST 2: D0 = 2 (100% larger)

0.015

X (UA)

0.01 0.005

X2 Estimated X2 System 0 500 Time (h) 1000 1500

0.03

S (mol/L)

0.02 0.01 0 0.3 500 Time (h) 1000

S2 Estimated S2 System 1500

IC (mol/L)

0.2 0.1 0 500 Time (h) 1000

IC2 Estimated IC2 System

1500

state estimation
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TEST 2: D0 = 2 (100% larger)

0.2 0.18 0.16 0.14 0.12

W1

0.1 0.08 0.06 0.04 0.02 0

500 Time (h)

1000

1500

Eucliden norm of W1
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TEST 2: D0 = 2 (100% larger)

0.25

0.2

0.15

W2
0.1 0.05 0

500 Time (h)

1000

1500

Eucliden norm of W2
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TEST 2: D0 = 2 (100% larger)

8 7 6 5

W3

4 3 2 1 0

500 Time (h)

1000

1500

Eucliden norm of W3
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TEST 2: D0 = 2 (100% larger)

X S X22 and S22 are better estimated compared with results calculated with the initial nominal ones, when the step IC on the input substrate is incepted. IC is again estimated with a negligible error. A considerable reduction of the

transient error is obtained, improving the observer performance.

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TEST 3: D0 = 0.5 (50% smaller)

0.52

D1

D1

0.5 0.48 0.46 0 500 Time (h) 0.26 1000 1500

D2

D2

0.25 0.24 0.23 0 500 Time (h) 5.2 1000 1500

D3

D3

5 4.8 4.6 0 500 Time (h) 1000 1500

Dynamic trajectories D
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TEST 3: D0 = 0.5 (50% smaller)

0.015

X (UA)

0.01

X2 Estimated X2 System

2
0.005

500 Time (h)

1000

1500

0.03

S (mol/L)

0.02 0.01 0 0 500 Time (h) 0.3 1000

S 2 Estimated S 2 System

1500

IC (mol/L)

0.2 0.1 0 500 Time (h) 1000

IC2 Estimated IC2 System

1500

state estimation
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TEST 3: D0 = 0.5 (50% smaller)

S2 X X22 and S2 estimated present an error when the step on the input substrate is incepted. From the simulation results of the three tests, it is clear that the best solution is to select D larger than the nominal values.

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ROBUSTNESS OF THE RHONO

On the other hand, observer tolerance to change on the

system parameters is tested; such variation is incepted as a disturbance on the bacteria concentration. A 30% positive variation in the maximum rate growth of the 2 m ax metanogenic bacteria (2max), a 15% negative variation in the maximum rate growth of the hydrolytic, acidogenic 1m ax and acetogenic bacteria (1max) and the same S 2 in disturbance on S2in are considered.

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ROBUSTNESS OF THE RHONO

2.1

D1

D1

2 1.9

500 Time (h)

1000

1500

1.05

D2

D2

1 0.95

500 Time (h)

1000

1500

21

D3

D3

20 19

500 Time (h)

1000

1500

D trajectories with disturbance on the bacteria concentration

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ROBUSTNESS OF THE RHONO

0.015

X (UA)

0.01

X2 Estimated X2 System

2
0.005

500 Time (h)

1000

1500

0.03

S (mol/L)

0.02 0.01 0 0 0.3 500 Time (h) 1000

S2 Estimated S2 System

1500

IC (mol/L)

0.2 0.1 0 0 500 Time (h) 1000

IC2 Estimated IC2 System

1500

state estimation
33

ROBUSTNESS OF THE RHONO

D trajectories and the performance of the proposed RHONO are illustrated in the previously figures IC X S2 respectively, where it is clear that X22 , S2 and IC are well estimated. Thus, the robustness of the proposed

RHONO to parameters variations is verified.

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CONCLUSIONS
A dynamic learning rate, named as D, is proposed for

RHONO, trained with an EKF-based algorithm, applied to anaerobic process. From simulation results, it is possible to see that D with initial values larger than nominal ones contributed to the best performance of the observer with a smaller transient error compared with the other tests. Simulation results also illustrate the observer robustness in presence of disturbances on the system parameters. Thus, it can be noticed that D is an adequate proposal to improve the performance of the observer and to estimate the states of the anaerobic process.

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FUTURE WORK
This research will be pursued in order to evaluate the application of the proposed D for control of the anaerobic process.
In order to improve the RHONO performance, the

observer scheme may be complemented by adding more terms to the proposed structure.

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