Abstract
In this study, the moving horizon $\\mathcal{H}_{\\infty }$\\textbf{ }control used for tracking a desired methane gas output from an anaerobic wastewater treatment reactor is compared with classical $\\mathcal{H}_{\\infty }$ control and a proportional-integral-derivative controller. The nonlinear system is first linearized around the set of equilibrium and operating points selected, and then the linear matrix inequalities required to comply with the constraints and guarantee the stability are constructed. Finally, the experimental results are obtained by implementing the control method in a MATLAB environment. It is concluded that moving horizon $\\mathcal{H}_{\\infty }$ control yields satisfactory results.
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