This paper deals with five existing nonlinear estimators (filters), which include Extended Kalman Filter (EKF), Extended H-infinity Filter (EHF), State Dependent Filter (SDF), State Dependent H-Infinity Filter (SDHF) and Unscented Kalman Filter (UKF) that are formulated and implemented to estimate unmeasured states of a typical biological wastewater system. The performance of these five estimators of different complexities, behaviour and advantages are demonstrated and compared via nonlinear simulations. This study shows promising application of UKF for monitoring and control of the process variables, which are not directly measurable.
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