Design and Application of DHP Controller Based on Online Leaky Echo State Network

In wastewater treatment process (WWTP), which has nonlinear and dynamic characteristics, it is difficult to realize the tracking control of dissolved oxygen (DO). To solve this problem, the online double heuristic programming (DHP) controller based on leaky echo state network (LESN) is proposed, the controller is named as DHP-LESN for short. Firstly, three Leaky ESNs are used in DHP to produce the control strategy, the system state and the derivatives of evaluation function, respectively. Then, the online gradient algorithm is used to update the output weights of three LESNs. Finally, the performance of the proposed DHP-LESN controller is tested and evaluated on Benchmark Simulation Model 1 (BSM1). The simulation results show that the proposed DHP-LESN controller can achieve better control nerformance than PID controller.