Design and Simulation of Anaerobic Digestion
for Biogas Production
1
Andal, J.C., 2Belarmino, I.J., 3Gabi, S.L.J., 4Rosales, R.
ECE/ ICE/ MexE Engineering Department, Batangas State University
Alangilan, Batangas City, Philippines
1
andaljohncarlos@gmail.com, 2officialcuriousengineer@yahoo.com, 3sharmaineleahjanegabi@gmail.com,
4
asihr9300@gmail.com
Abstract– This paper discusses designing of an
Anaerobic Digestion System for the prevention of
process failures in biogas production. The issue of
process failures or instabilities in the parameters
(Volume flowrate, temperature, and pH) was
addressed with the integration of instrumentation
and control in the system. The design consists of two
models: The Mathematical Model and the Physical
Model. Mathematical model was done using black
box technique and constructed through MATLAB to
know the behavior of the system. The data used for
black box modelling was from Aspen Plus. The
simulated data was used to obtain transfer function
of the system. Physical model or control system
design was done in Simulink. The design was
incorporated with three PID Controllers for the three
parameters to eliminate the errors and disturbance
that might occur. The stability was evaluated by Bode
Plot, Nyquist and Nichols Chart for the frequency
response. In addition, the time response was also
considered and it was validated with the Step and
Impulse Response.
Keywords– Anaerobic, Digestion, Stability, Black-box,
Control System.
I. INTRODUCTION
A control system's stability is often of great
importance and has caused a number of practical
problems in the engineering system. The stability of a
system is related to its input disturbance response.
In this study, the researchers used the anaerobic
digestion process in an engineered way. The anaerobic
digestion process takes place inside the digester which
can be categorized with the water content of the
feedstock and the operating temperature. Biogas
production from anaerobic digestion has drawn global
interest because it is highly regarded as a replacement for
natural gas; this helps to reduce fossil-fuel dependency
and helps to combat greenhouse gas emissions. Biogas is
a renewable and a clean source of energy. It is a
combination of gases such as carbon dioxide (30-40%)
and methane (60-70%), and has lesser ammonia and
hydrogen sulfide (Wealand, 2010).
The validity of measurements allows the field to
work within limits. To identify the conditions under
which biogas works best and sustainably, the entire
biogas system and the factors affecting its stability were
analyzed. Monitoring and controlling operating
parameters of the system are essential steps for setting a
plan of action to overcome problems with these
parameters. Furthermore, the difficulty affiliated with the
process leads to use mathematical modeling and physical
modeling technique to describe and envision the
behavior of the process in real life.
Modeling the anaerobic digestion process is of
fundamental importance not only for designing biogas
power plants, but also for studying the sensitivity of the
plant's behavior to operational parameters, controlling
and monitoring performance, and assessing the stability
of the system and operational conditions. The system is
a complete biogas structure starting from the feedstock
until the gas is used. Productivity is the quality and
quantity of the biogas produced by the system. Stability
is the consistency and regularity of the gas produced
(Naik et al., 2014).
According to Moeller and Zehnsdorf (2017), the most
common problems that the biogas process faces are over-
acidification as well as the generation of floating layers
and foam. Over-acidification is the accumulation of fatty
acids due to the disturbed AD process characterized by a
reduction of digestate pH. On the other hand, foaming
arises because of the high loading of organic inputs and
the presence of yeast even in slight amount.
Instrumentation and control have a big role in addressing
these issues and solving these problems.
With Instrumentation and Control Engineering being
a broad subject to be studied which touches different
fields of Engineering and focusing more on the studies
about the system’s processes and variables, this research
will be dealing mostly with the enhancement of
monitoring and controlling mechanism to stabilize the
system in order to avoid process failures. The proponents
used a frequency response analysis to observe the
waveform produced by the system. The Bode plot,
Nyquist plot, Nichols Chart, and etc. are then used to see
the stability case of the design.
The researchers believe that the plant should be stable
so that the production is maximized under various
conditions. The issue of process failures was addressed
with the integration of control system. The outcome of
this study identified under which conditions biogas
technology works best that lead to the success and failure
of the systems by presenting technical documents such
as engineering plans and specifications presented.
 II. REVIEW OF RELATED LITERATURE
Renewable sources of energy, including solar, wind
geothermal, hydro and bioenergy, are among the most
efficient, socially acceptable and low-emission sources
to satisfy the human desire for electricity, heat and
transportation fuels. Bioenergy is one of the most
versatile energy sources (India Biogas Association,
2018).
Biogas typically relates to a blend of various gasses
generated in the lack of oxygen due to the decomposition
of organic matter. Technically, biogas can be generated
from any sort of organic material, mostly from organic
waste or rejected material. Biogas is a renewable energy
source generated inside a closed system by anaerobic
digestion of organic material or by fermentation of
biodegradable products.
next step. In the identification of design requirements,
the proponents gathered all the accomplished
components including the conservative method of
selecting the best digester design and the digital platform
to select the programming simulator being utilized. Next
is design stage, it encompasses the mathematical
modeling of the anaerobic digester and the physical
model which is the control system design. Then, the
evaluation stage covers the system simulation with the
use of Simulink for system modeling and Aspen Plus for
chemical modeling and anaerobic digestion process data
collection. It was done to measure the stability of the
system. Lastly, the output makes up the design of the
anaerobic digester system that achieves the process
failures. In addition, technical documents were also
presented, such as engineering plans and specifications.

Biogas is the real all-rounder of renewable energy

sources. Biogas is, nevertheless, a multifunctional
produc.t Synergistically, this addresses multiple food
insecurity, climate change, and energy inequality
problems (Bond & Templeton, 2011; Mulinda et al.,
2013; Sovacool et al., 2015). It can provide energy, heat,
gas, and fuel for gas-powered vehicles to carry. Apart
from electricity generation and thermal usage, biogas is
an important transport choice. Firewood usage was down
by 53 percent on average for rural households utilizing
biogas. (Rowse, 2011).

The anaerobic digester is the main component of AD.

It is an airtight tank that can be of any shape (square,
cylindrical, rectangular and egg-shaped), where
biodegradation of substrate and biogas production takes
place (Ward et al., 2010). To ensure a safe, high organic
load rate, to achieve a short HRT possible and to
maximize the output of methane, the development of
anaerobic digester is necessary. (Khalid et al., 2011). The
anaerobic digester can be broadly categorized according
to the feeding mode (batch and continuous) and by the
solid content of the substrate (dry and wet digestion)
(Ward et al., 2009).
Another related study is the Pilot Scale Biogas
Reactor with Computer System for Monitoring and
Control describes research on biogas new technologies
carried out at the new pilot-scale biogas plant of the
Stephen Angeloff Institute of Microbiology – Bulgarian
Academy of Sciences. The pilot biogas plant was
intended to work out and scale up different anaerobic
digestion technologies based on the different types of
feedstock. All the information is stored on a PC for fast
reference, data mining, and for parameter identification
and validation of different anaerobic digestion
mathematical models. Some data are further processed to
produce some unmeasurable AD process variables or
optimized control parameters based on various
estimation and control algorithms that are under
development and testing.
Figure 1 System Development Incremental Model
In Figure 2, it describes the process of the existing
anaerobic digestion system and served as a basis for the
proponents to how the plant works. The existing process
is composed of a mixing tank, fermentation chamber and
hydraulic pressure tank where digestion occurs. The
mixing and inlet tank are connected. Wastes from pigpen
canal transfer directly to the mixing tank and eventually
mix with the other wastes while water continuously
flows during the cleaning period. The fermentation
chamber serves as the biogas digester where biogas is
produced. The upper part of the chamber is the biogas
tank. This place acts as a biogas collection and storage
tank before distributing it to the service area. The
hydraulic pressure tank is for the regulation of the biogas
pressure inside the digester. This tank gives pressure to
the biogas so that it can flow to the biogas piping system.
It also functions as the storage of the liquid waste coming
out from the fermentation chamber.

III. METHODOLOGY

Figure 1 shows the pattern that served as a basis

in performing the research. First, it is important to know
the design requirements to plan on how to initialize the

Figure 2 Flow Chart of the Existing Digester
Table 1 shows the conservative method criteria in
choosing the best digester design that would fit to the
proponents’ study. The chosen digesters are Fixed
Dome, Floating Drum, Tubular, and Plastic. The Criteria
are as follows:
- Shape of Digester
- Digester Structure
- Orientation of Digester
- Exposure of Digester
- Temperature Operation
- Safety
The best digester was scored 5 as the highest and the
worst was scored 1 as the lowest.
Table 1 Criteria for Conservative Method
A. System Identification
System Identification is the estimation of
mathematical models of a dynamic system from the
measured input-output data. The proponents
implemented this under MATLAB functions. The steps
or procedure of estimating a model from measured input-
output data consists of three major phases:
 Data collection
 Selection of the most appropriate model
structure, and
 Identification of the method to select a
particular model in the data gathered.
In more detail, Figure 3 is the block diagram essential
for the proponents to do the system identification method
Figure 3 Block Diagram for Model Identification
I. Data Collection
The proponents used Aspen Plus for collecting all
the data that will be used in Modelling.
II. Model Estimation
In model estimation, System Identification
Toolbox in MATLAB utilizes algorithms estimation
and the selected model structure to know the
numerical values of model parameters (Ljung, 2015).
III. Model Validation
Model validation was used to determine how
close the model to the actual system was. This
includes comparing the simulated output of the model
and output of the measured data (Ljung, 2015;
Proctor et al. 2013; Rahiman et al., 2009).
IV. Model Evaluation
Model evaluation was used to evaluate the
suitability of the estimated model with respect to how
close the simulated output of the model compares
with output of measured data of the actual system for
a specific stimulus (Vazquez-Cruz et al., 2014). If the
evaluation shows that the model output compares
"reasonably" (accuracy evaluation) with the
measurement of the actual system, based on the
desired accuracy figure, then the modeling process is
completed.
B. Control System Design
In the design of the control system, process
sequencing, input, and output have been modified to
produce a system. The primary factor to consider was the
type of system on which the proponents were working,
whether it was an open-loop or a closed-loop with
negative or positive feedback.
When it comes to anaerobic digestion process, the
open-control loop has been used but there were few
disadvantages like the output is input controlled without
taking into consideration any instability that might exist,
so thus, the closed-loop control system with a feedback
has been utilized.
In Figure 4, it shows a simple block diagram of a
closed loop system with multiple inputs and a single
output (MISO). It is composed of a setpoint for the
parameter to be controlled, a controller for the
correction of error and maintaining the stability, a
sensor for measuring and responding to some type of
input from the physical environment, and a final
controlling element for directly controlling the value of
the manipulated variable of a control loop. Table 3 Input Parameters of the System
Parameters Value
Volume Flowrate 400L/day
Temperature 60 degree Celsius
pH 6.5

In Table 4, it displays the rise time requirement. The

rise time requirement should be lower than the current
system since longer rise time implies stability issues.
Another thing is, if the rise time of the system is too long,
then the system may be operating with the process
variable at a sub-optimal value for too long.

The rise time requirements for the three plants were

based on the result of the open-loop testing for the
Figure 4 MISO Control System stability of step response.

C. Output Table 4 Rise Time of the Plant

Plant Values
The output phase responded to the targets laid
Volume Flowrate Less than the value of open-
down following assessment. After the conclusion of the
loop rise time (Volume)
project, the output evaluation examined the project's
immediate outcomes or long-term impact and
summarized the project's overall performance, including Temperature Less than the value of open-
design efficiency in terms of production and how stable loop rise time
the system would be. The output fulfills the design and (Temperature)
technical documents such as engineering plans and pH Less than the value of open-
specifications. loop rise time (pH)

IV. RESULTS AND DISCUSSIONS

Table 2 shows the result of the conservative method.
Based on the criteria used by the proponents, the Fixed
Dome Anaerobic Digester. The table sums up the
pointing system and the quality each digester has.
The table 5 below shows the overshoot requirement
of the system The overshoot of the system must be
figured out to know how the reference system will go
before stabilizing. Overshoot is controlled by a
derivative gain of a PID controller.

Table 2 Result of the Conservative Method The overshoot requirements of less than 20% were
based on the evaluation of mathematical modeling
(Open-Loop) derived through System Identification.

Table 5 Overshoot Requirement of the System

Plant Values
Volume Flowrate Less than 20%
Temperature Less than 20%
pH Less than 20%

Table 6 shows the requirement for gain margin. The

A. Design Requirements
The Table 3 shows the setpoint values of each
parameter. These values were carefully evaluated to
understand how they affect the production of gas and
which values biogas is produced in higher quantity. The
volume flowrate is based on the number of pigs available
in a particular area (eg. 50 pigs; DOST Standards). The
temperature with the range of 55 to 60 ˚C has a higher
rate of degradation (50%). The oxygen too, is less soluble
(the optimal anaerobic condition are reached more
quickly). The optimal pH for the growth of methanogenic
bacteria is in the range of 6.5 to 7.5 (Jay Cheng, 2009).
Methanogenic activities may be inhibited or stopped if
the pH is lower than 6 because hydrogen production
occurs instead of methane production.
greater the gain margin, the greater the stability of the
system will be. It refers to the amount of gain, which can
be increased or decreased without making the system
unstable. It is usually expressed in dB.
The gain margin values were based on the open-loop
testing of the system when it comes to stability. It was
done through the testing of linearity, a built-in tool in
MATLAB that displays the margins of the system
Table 6 Gain Margin Requirement for the System
Plant Values
Volume Flowrate More than 10 dB
Temperature More than 10 dB
pH More than 10 dB
 Table 7 shows the phase margin requirement. Phase
Margin is the same as the gain margin requirement for
stability. The greater the Phase Margin is, the greater
will be the stability of the system.

The Phase Margin values were based on the

conducted open-loop testing (See 4.4.2.1 Open-Loop
Response). According to the study, a 90-degree' phase
margin was the ideal, but above 10 degrees can
accommodate failures so the stability will not be
affected.

Table 7 Phase Margin Requirement for the System

Plant Values
Volume Flowrate More than 15 degrees
Temperature More than 15 degrees Figure 6 Measured and Simulated Model Output of
pH More than 15 degrees Transfer Function 2

B. Mathematical Modeling The response of the chosen model was analyzed

through the frequency analysis and time response
The table below indicates the result of the testing analysis and found out that it was not stabilized, so the
performed in system identification to see the highest fit proponents would need to create a control system to
that would be selected for the Anaerobic Digestion solve the instability issues.
System. The models investigated were the Transfer
Function Model and State Space Model. To enable fitting C. Physical Modeling
of the Transfer Function model, adjustment of poles and
zeros was required. When the transfer function is in the Figure 7 shows the Simulink model of the system. It is
high order form, a good fit could be gotten. A State Space composed of three inputs with three PID controllers that
model primarily depends on the number of states, as it will be responsible for linearizing the plant. Stability will
becomes higher, a suitable graph can be achieved. be measured through the use of Step and Impulse
Response Bode Stability Criterion, Nyquist Plot, and
Table 8 Result of the Mathematical Modeling Nichols Chart. The response of this system will not be as
fast as the analog since it can only update at discrete
Evaluation of the Six Testing
intervals.
Mathematical Models (Data Fit)
Tests Transfer Transfer State Space
Function 1 Function 2 1
1 35.91% 54.23% 41.64%
2 23.24% 71.84% 44.76%
3 65.33% 42.05% 34.58%
4 34.58% 58.80% 40.37%
5 31.81% 23.71% 49.11%
6 50% 90.88% 66.29%

The Transfer function 2 shown in the figure 5 estimated

a good fit with 90.88% with a combination of [2 2 2]
poles and [1 1 1] zeros. The fit was chosen for the
anaerobic digestion system and was then optimized by Figure 7 Discrete Control System
applying a control system using Simulink.
Adder
Transfer Function Model 2:

Y(z) =
0.5365 z −1
𝑽𝒐𝒍𝒖𝒎𝒆 𝑭𝒍𝒐𝒘
1 − 1.588z −1 + 0.6957 z −2
−0.853 z −1
+ 𝑻𝒆𝒎𝒑
1 − 0.8775 z −1 + 0.06347 z −2
19.13 z −1 Figure 8 Adder
+ 𝒑𝑯
1 − 1.413 z −1 + 0.5092 z −2 A system that performs the addition of three signal
sequences to form another sequence which is denoted as
Y[z].
 It is not necessary to store sequences to perform
addition. To make it simple, the addition operation is
memoryless.

Unit Delay

Figure 11 Scope Output of the PID Controllers

Figure 9 Unit Delay
𝑌[𝑧] = 𝑧 −1 {𝑋[𝑧]} = 𝑋[𝑧 − 1]
The unit delay was utilized to implement a delay.
This block is good to use because it accepts an input
which is X[z] and generates output equal to X[z-1]. The
sample time is equivalent to the sampling time of the
controller and a plant which is 86400 seconds.
Disturbance
The output of the PID Controllers was shown in
figure 11. It oscillated first before settling to its
corresponding value. making it an underdamped system.
The graph shows stability and a faster response.
D. Evaluation
Open-Loop Response
To get the closed-loop response of the system, the
open-loop must be evaluated first. The open-loop after
putting the control system must also be stable.

Volume Flowrate Plant:

𝟎.𝟓𝟑𝟔𝟓𝐳 −𝟏
sys =
𝟏 − 𝟏.𝟓𝟖𝟖𝐳 −𝟏 + 𝟎.𝟔𝟗𝟓𝟕𝐳 −𝟐

Figure 10 Disturbance

With the project only simulating through Simulink, it

is essential to add at least 0.1 disturbance/ noise in the
control system to see how the controller would react and
eliminate those.

PID Controller

The designed PID controller for the study is a

discrete-time domain where the sampling time used is
86400 seconds. By using the autotune feature of Ziegler
Nichols Method for the PID controllers in Simulink, the
values of Kp, Ki and Kd for their respective PID
controllers were achieved.
Figure 12 Open-Loop Step Response of Volume
Table 9 shows the Kp, Ki, and Kd values of the Flowrate Plant
designed PID controller. These gain values are the
controller parameters of the PID controller to regulate The Figure 12 is a step response of the volume plant
volume flow, temperature, and pH. (Open-Loop). It has a peak amplitude of 0.00302 at the
time of 11 days. The rise time is unknown. The system is
Table 9 Gain values a part of the underdamped system because it oscillated
Controller Kp Ki Kd first before reaching its steady-state value. All the values
were generated in the control system tuner in Control
Volume Flow 1.484 0.79 e-11 320.904 System Toolbox.
PID Controller
Temperature 5.79e-11 -2.19e-10 5.13e-11
PID Controller
pH PID 0.041 5.13 e-11 1104.035
Controller
 Figure 13 Open-Loop Bode Diagram of Volume
Flowrate Plant
Figure 13 shows an open-loop response of the Bode
diagram for the volume plant. It has a peak gain of 123
dB at the frequency of 1e-20 rad/s. The gain margin is
equal to 60.7 dB at the frequency of 7.56e-06 rad/s. The
phase margin is equal to 90.2 degrees with a delay
margin of 1.27e09 samples at 1.43e-14 rad/s frequency.
All the values got in MATLAB indicate the stability
of open-loop for frequency response. The gain margin
and phase margin are both positive values. It also
satisfies the requirement of the proponents
Temperature Plant:
−𝟎.𝟖𝟓𝟑𝐳 −𝟏
sys =
𝟏 − 𝟎.𝟖𝟕𝟕𝟓𝐳 −𝟏 + 𝟎.𝟎𝟔𝟑𝟒𝟕𝐳 −𝟐
Figure 14 Open-Loop Step Response of Temperature
Plant
The figure 14 describes a plot of step response for
temperature plant (Open-Loop). The step shows a ramp
display because the graph moves diagonally upward. The
peak amplitude is >=10.6 with overshoot as unknown at
time >1e05 days. The rise time is unknown.
Figure 15 Open-Loop Bode Diagram of Temperature
Plant
The figure 15 is a Bode plot for Temperature Plant
(Open-Loop). The stability criterion for the Bode plot
says that when the gain and phase margin are both
positive values, it is stable. The values obtained by
MATLAB were the Peak Gain, Gain Margin and Phase
Margin. The peak gain got is 221 dB at 1e-20 rad/s. The
gain margin is 22.3 dB at 1.29e-05 rad/s frequency. The
phase margin is 113 degrees with a delay margin of
1.78e04 samples at the frequency of 1.28e-09 rad/s. The
system is stable with all the values attained.
pH Plant:
19.13z−1
sys =
1 − 1.413z−1 + 0.5092z−2
Figure 16 Open-Loop Step Response of pH Plant
The figure 16 shows the step response of the open-
loop for pH Plant. The peak amplitude is >=1.64 at >1e05
days. The overshoot and the rise time are both unknowns.
The step response is in the form of a ramp

Figure 17 Open-Loop Bode Diagram of pH Plant
The figure 17 shows a Bode Diagram for the open-
loop response of pH Plant. The peak gain is 205 dB at the
frequency of 1e-20 rad/s. The gain margin is 31.2 dB at
the frequency of 9.11e-06 rad/s. The phase margin id
97.9 degrees with a delay margin of 1.13e05 samples at
the frequency of 1.75e-10 rad/s. It satisfies all the
requirements for the stability criterion making the system
stable.
Closed-Loop Response
The closed-loop response was analyzed with the use
of the control system toolbox. All the results were seen
below and were carefully evaluated to know how the
system became stable.
Volume Flowrate Plant:
Figure 18 Volume Flowrate Plant
Figure 19 Closed-Loop Step Response of Volume
Flowrate Plant (PID Tuner)
In Figure 19, it illustrates the step response of the
volume flowrate plant. The step response is an
underdamped system because it oscillated first before
reaching its steady-state value. The rise time is equal to
376.883 ks or equivalent to 4.362 days. The overshoot is
within the range of less than 20%. The values presented
can be seen in the scope indicator.
Figure 20 Closed-Loop Bode Diagram of Volume
Flowrate Plant
In figure 20, it shows the Bode diagram of the volume
flowrate plant. It has peak gain equal to 71 dB at a
frequency of 1e-20 rad/s. The Bode diagram is a
combination of a Bode magnitude plot and a Bode phase
plot. The minimal stability margin of the Bode
magnitude plot has a gain margin, the gain margin is
equal to 10.4 dB at frequency of 3.64e-05 rad/s. The
minimal stability margin of the Bode phase plot has 16.5
degrees with the delay of 0.2412 samples at the
frequency of 1.38e-05 rad/s.
Temperature Plant:
Figure 21 Temperature Plant
Figure 22 Closed-Loop Step Response of Temperature
Plant (PID Tuner)
 Figure 22 describes the step response characteristic of
the temperature plant. It belongs to the critically damped
systems due to the movement towards equilibrium
quickly without oscillation. The peak response has a
value of peak amplitude equals to ≥10.3 at a time of
>3e+06 seconds. The rise time equals to 508.078 ks or
5.88 days. The % overshoot is equal to 0.485%.
Figure 23 Closed-Loop Bode Diagram of Temperature
Plant
Figure 23 illustrates the Bode diagram of the
temperature plant. Bode diagram has two parts: Bode
magnitude plot and Bode phase plot. The peak gain of
the system is equal to 2.14 dB at a frequency of 2.95e-20
rad/s. The minimal stability margin of Bode magnitude
has the value of gain margin, the gain margin is equal to
26.8 dB at frequency of 3.64e-05 rad/s. The minimal
stability margin of the Bode phase has the values of
phase gain and delay margin, the phase margin equals to
153 degrees with a delay margin of 4.24e+04 samples at
a frequency of 7.28e-10 rad/s.
pH Plant:
Figure 24 pH Plant
Figure 25 Closed-Loop Step Response of pH Plant (PID
Tuner)
In figure 25 shows the step response of the pH plant.
The system is critically damped just like the temperature
plant. The Rise time is equal to 576.139 ks or 6.67 days
where the steady-state is equal to 588. The %Overshoot
is 0.505%.
Figure 25 Closed-Loop Bode Diagram of pH Plant
In figure 25, it shows the Bode diagram of the pH
plant. It has a peak gain equals to 35.4 dB at a frequency
of 1e-20 rad/s. Bode Magnitude Plot and Bode Phase Plot
are the parts of the Bode Diagram. The gain margin is
equal to 11.4 dB at frequency of 3.64e-05 rad/s. The
Bode phase plot's minimal stability margin has the values
of phase margin, the phase margin equals to 31.8 degrees
with a delay margin of 0.522 samples at the frequency of
1.23e-05 rad/s.
V. CONCLUSIONS
This study was meant to verify that using
MATLAB and Simulink to develop a system that offers
many advantages over the typical system where the
operators operate it manually. There is an inherent
advantage in using Simulink to model the control system.
It saves time and effort, allowing the engineer to design
the system in a straightforward manner.
To demonstrate all of these techniques, anaerobic
digestion control system was designed using
Mathematical modeling and Physical Modelling and
evaluated it afterward. These were the conclusions made:
1. The following data requirements were identified
for the control system of Anaerobic Digestion.
These are the following: input parameters like
volume flowrate, temperature, and pH; control
parameters like rise time, overshoot, gain margin,
and phase margin. These requirements are needed
to be followed to make the system stable and
optimize the production of Biogas.
2. Considering the data collected from the
Anaerobic Digestion System, the proponents
came up with a mathematical model. In
formulating the mathematical model through
anaerobic digester design, the type of
mathematical model being plot was transfer
function. Three transfer functions were obtained
.
 3. The three transfer functions obtained were used as
three transfer function plant in a control system to [13] Electrical4U. “Transfer Function of Control
generate a graphical representation of the system System.” (2019)
that tells the current condition of the anaerobic [14] IEEE. “2016 the 4th IEEE International
digestion system for the optimization process. Conference on Smart Energy Grid Engineering.”
(2016)
4. The design of the fixed dome anaerobic digestion
system satisfied the rules of the Bode diagram, [15] Aspen Tech. “Aspen Plus Steady State
Nyquist diagram and Nichols chart. It meant that Simulation.” (1999)
all the graphs were stable and had enough margins
before they failed. [16] Mao, Q. et al. “Control of Noise and Structural
Vibration.” (2019)
VII. ACKNOWLEDGEMENTS
[17] Rachmanto, T. “Monitoring of Biodiesel
First, we thank the Almighty God for good health, Transesterification Process Using Impedance
guidance, and strength to accomplish this study. Also, the Measurement.” (2014)
researchers would like to thank the ECE/ICE/MexE
Department of Batangas State University for providing [18] Serrano, R. “Biogas Process Simulation using
us anything that we need. To our research adviser, Engr. Aspen Plus.” (2011)
Ralph Sangalang, who wholeheartedly believed and help
us to make this research possible, thank you. To our
family who provided us financially, we appreciate you
all.

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