Robust Economic Model Predictive Control of Drinking Water Transport Networks Using Zonotopes

Conference paper
Part of the Advances in Intelligent Systems and Computing book series (AISC, volume 1196)


A robust economic Model Predictive Control (EMPC) approach is presented in this paper for the control of a Drinking Water Network (DWN) albeit the presence of uncertainties in the forecasted demands required for the predictive control design. The uncertain forecasted demand on the nominal MPC has the possibility of rendering the optimization process infeasible or degrade the controller performance. In this paper, the uncertainty on demand is considered unknown but bounded in a zonotopic set. Based on this uncertainty description, a robust MPC is formulated to ensure robust constraint satisfaction, performance and stability of the MPC for DWN to meet user requirements whilst ensuring lower operational cost for water utility operators.


Model predictive control Economic control Robustness Drinking water network Zonotopes 


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© Springer Nature Switzerland AG 2020

Authors and Affiliations

  1. 1.Advanced Control Systems GroupTechnical University of Catalonia (UPC)TerrassaSpain

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