<?xml version="1.0" encoding="ISO-8859-1"?><article xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
<front>
<journal-meta>
<journal-id>1692-3324</journal-id>
<journal-title><![CDATA[Revista Ingenierías Universidad de Medellín]]></journal-title>
<abbrev-journal-title><![CDATA[Rev. ing. univ. Medellín]]></abbrev-journal-title>
<issn>1692-3324</issn>
<publisher>
<publisher-name><![CDATA[Universidad de Medellín]]></publisher-name>
</publisher>
</journal-meta>
<article-meta>
<article-id>S1692-33242020000100053</article-id>
<article-id pub-id-type="doi">10.22395/rium.v19n36a3</article-id>
<title-group>
<article-title xml:lang="es"><![CDATA[Modelado y control no lineal de ácidos grasos volátiles en un biorreactor anaerobio de lecho fijo y flujo ascendente (UAFBR)]]></article-title>
<article-title xml:lang="en"><![CDATA[Modeling and nonlinear control of volatile fatty acids in an upflow anaerobic fixed bed biofilm reactor (UAFBR)]]></article-title>
<article-title xml:lang="pt"><![CDATA[Modelagem e controle não linear de ácidos graxos voláteis em um biorreator anaeróbio de leito fixo e fluxo fixo ascendente]]></article-title>
</title-group>
<contrib-group>
<contrib contrib-type="author">
<name>
<surname><![CDATA[Ramírez]]></surname>
<given-names><![CDATA[Iván]]></given-names>
</name>
<xref ref-type="aff" rid="Aff"/>
</contrib>
<contrib contrib-type="author">
<name>
<surname><![CDATA[Ramfrez-Villarreal]]></surname>
<given-names><![CDATA[Andrés]]></given-names>
</name>
<xref ref-type="aff" rid="Aff"/>
</contrib>
<contrib contrib-type="author">
<name>
<surname><![CDATA[Ospina-Nieto]]></surname>
<given-names><![CDATA[Juan]]></given-names>
</name>
<xref ref-type="aff" rid="Aff"/>
</contrib>
</contrib-group>
<aff id="Af1">
<institution><![CDATA[,Universidad del Quindío Facultad de Ingeniería ]]></institution>
<addr-line><![CDATA[ ]]></addr-line>
<country>Colombia</country>
</aff>
<aff id="Af2">
<institution><![CDATA[,Universidad del Quindío Facultad de Ingeniería ]]></institution>
<addr-line><![CDATA[ ]]></addr-line>
<country>Colombia</country>
</aff>
<aff id="Af3">
<institution><![CDATA[,Universidad del Quindío Facultad de Ingeniería ]]></institution>
<addr-line><![CDATA[ ]]></addr-line>
<country>Colombia</country>
</aff>
<pub-date pub-type="pub">
<day>00</day>
<month>06</month>
<year>2020</year>
</pub-date>
<pub-date pub-type="epub">
<day>00</day>
<month>06</month>
<year>2020</year>
</pub-date>
<volume>19</volume>
<numero>36</numero>
<fpage>53</fpage>
<lpage>69</lpage>
<copyright-statement/>
<copyright-year/>
<self-uri xlink:href="http://www.scielo.org.co/scielo.php?script=sci_arttext&amp;pid=S1692-33242020000100053&amp;lng=en&amp;nrm=iso"></self-uri><self-uri xlink:href="http://www.scielo.org.co/scielo.php?script=sci_abstract&amp;pid=S1692-33242020000100053&amp;lng=en&amp;nrm=iso"></self-uri><self-uri xlink:href="http://www.scielo.org.co/scielo.php?script=sci_pdf&amp;pid=S1692-33242020000100053&amp;lng=en&amp;nrm=iso"></self-uri><abstract abstract-type="short" xml:lang="es"><p><![CDATA[Resumen En este trabajo se presenta una estrategia de regulación robusta de los ácidos grasos volátiles (AGV) en un proceso de digestión anaerobia. La estrategia propuesta es una ley de control por retroalimentación no lineal obtenida por linealización entrada-salida que permite alcanzar el objetivo de control a pesar de errores de modelado (incertidumbres en la cinética de las reacciones) y las restricciones del actuador. Los experimentos fueron conducidos con un reactor anaerobio piloto de lecho fijo y flujo ascendente (UAFBR) con volumen activo de 0,947 m3, completamente equipado, utilizado para el tratamiento de aguas residuales provenientes de una destilería de vino en Narbonne, Francia. Con el objetivo de validar los modelos utilizados, resultados simulados y experimentales, son presentados y discutidos los parámetros de desempeño del controlador bajo los modelos AM2 y ADM1 (tiempo de subida, tiempo de establecimiento, sobre impulso y error en estado estacionario) obtenidos de las simulaciones numéricas, que prueban la eficiencia y aplicabilidad de la estrategia de control propuesta.]]></p></abstract>
<abstract abstract-type="short" xml:lang="en"><p><![CDATA[Abstract In this article a robust regulation strategy of volatile fatty acids is proposed by an anaerobic digestion process. The proposed strategy is a control law via nonlinear feedback obtained by input-output linearization that allows the completion of the control goals despite the modeling errors (uncertainties in the kinetics of the reactions) and the actuator restrictions. The experiments were conducted with an pilot fixed anaerobic reactor and ascending flow (UAFBR) with an active volume of 0.947 m3 fully equipped, used for the treatment of residual waters coming from a wine distillery in Narbonne, France. With the goal of validating the models used, simulated and experimental results are presented and discussed. The performance parameters of the controller under the AM2 and ADM1 models (up time, establishment time, over-impulse and stationary state error) obtained from the numeric simulations that prove the efficiency and applicability of the proposed control strategy.]]></p></abstract>
<abstract abstract-type="short" xml:lang="pt"><p><![CDATA[Resumo Neste trabalho, apresenta-se uma estratégia de regulação robusta dos ácidos graxos voláteis (AGV) em um processo de digestão anaeróbia. A estratégia proposta é uma lei de controle por retroalimentação não linear obtida por linearização entrada-saída que permite atingir o objetivo de controle apesar de erros de modelagem (incertezas na cinética das reações) e das restrições do acionador. As experiências foram conduzidas com um reator anaeróbio-piloto de leito fixo e fluxo ascendente (UAFBR) com volume ativo de 0,947 m3, completamente equipado, utilizado para tratar águas residuais provenientes de uma destilaria de vinho em Narbonne, França. Com o objetivo de validar os modelos utilizados, resultados simulados e experimentais, são apresentados e discutidos os parâmetros de desempenho do controlador sob os modelos AM2 e ADM1 (tempo de subida, tempo de estabelecimento, sobre impulso e erro de estado estacionário) obtidos das simulações numéricas, que provam a eficiência e a aplicabilidade da estratégia de controle proposta.]]></p></abstract>
<kwd-group>
<kwd lng="es"><![CDATA[ácidos grasos volátiles (AGV)]]></kwd>
<kwd lng="es"><![CDATA[biogás]]></kwd>
<kwd lng="es"><![CDATA[biorreactor]]></kwd>
<kwd lng="es"><![CDATA[demanda química de oxígeno (DQO)]]></kwd>
<kwd lng="es"><![CDATA[digestión anaeróbica (DA)]]></kwd>
<kwd lng="es"><![CDATA[control no lineal]]></kwd>
<kwd lng="es"><![CDATA[modelo de digestión]]></kwd>
<kwd lng="en"><![CDATA[volatile fatty acids (AGV)]]></kwd>
<kwd lng="en"><![CDATA[bio-gas]]></kwd>
<kwd lng="en"><![CDATA[bioreactor]]></kwd>
<kwd lng="en"><![CDATA[chemical oxygen demand]]></kwd>
<kwd lng="en"><![CDATA[anaerobic digestion]]></kwd>
<kwd lng="en"><![CDATA[nonlinear control]]></kwd>
<kwd lng="en"><![CDATA[digesting model]]></kwd>
<kwd lng="pt"><![CDATA[ácidos graxos voláteis (AGV)]]></kwd>
<kwd lng="pt"><![CDATA[biogás]]></kwd>
<kwd lng="pt"><![CDATA[biorreator]]></kwd>
<kwd lng="pt"><![CDATA[demanda química de oxigênio (DQO)]]></kwd>
<kwd lng="pt"><![CDATA[digestão anaeróbica (DA)]]></kwd>
<kwd lng="pt"><![CDATA[controle não linear]]></kwd>
<kwd lng="pt"><![CDATA[modelo de digestão]]></kwd>
</kwd-group>
</article-meta>
</front><back>
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