“…Additionally, all kinds of disturbances existing will degrade the performance of the closed-loop systems. In the last decades, various control algorithms have been proposed to control the dissolved oxygen, such as model predictive control (MPC) [7,10,15,16], fuzzy control [6,17], and neural network control [8,9,18,19]. The MPC has been widely applied in industrial processes, especially the fruitful linear MPC business software packages.…”