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Modelling approaches for MPC of large-scale sewage systems

AuthorsOcampo-Martinez, Carlos ; Puig, Vicenç
KeywordsModel-based predictive control
Hybrid systems
Piece-wise linear functions
Non-linear optimization
Sewer networks
Linear programming
Linear control systems
Nonlinear programming
Predictive control
Issue Date2009
CitationTechnical Report IRI-TR-09-01, Institut de Robòtica i Informàtica Industrial, CSIC-UPC, 2009.
AbstractIn this report, model predictive control (MPC) of large-scale sewage systems is addressed considering different modeling approaches that include several inherent continuous/discrete phenomena (over ows in sewers and tanks) and elements (weirs) in the system that result in distinct behavior depending on the dynamic state (ow/volume) of the network. These behaviors can not be neglected nor can be modeled by a pure linear representation. In order the MPC controller takes into account these phenomena and elements, a modeling approach based on piece-wise linear functions is proposed and compared against a hybrid modeling approach previously reported by the authors. Control performance results and associated computation times of the closed-loop scheme considering both modeling approaches are compared by using a real case study based on the Barcelona sewer network.
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