Modelling approaches for MPC of large-scale sewage systems

Abstract

In 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.