Abstract
Two formulations of the stochastic model predictive control (SMPC) problem for the control of large-scale drinking-water networks are presented in this chapter. The first approach, named chance-constrained MPC, makes use of the assumption that the uncertain future water demands follow some known continuous probability distribution while at the same time, certain risk (probability) for the state constraints to be violated is allocated. The second approach, named tree-based MPC, does not require any assumptions on the probability distribution of the demand estimates, but brings about a complexity that is harder to handle by conventional computational tools and calls for more elaborate algorithms and the possible utilization of sophisticated devices.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Notes
- 1.
If \(m<n_u\), then multiple solutions exist, so \(\mathbf {u}\) should be selected by means of an optimization problem. Equation (14.1b) implies the possible existence of uncontrollable flows \(\mathbf {d}\) at the junction nodes. Therefore, a subset of the control inputs will be restricted by the domain of some flow demands.
References
Billings RB, Jones CV (2008) Forecasting urban water demand, 2nd edn. American Water Works Association
Biscos C, Mulholland M, Le Lann MV, Buckley CA, Brouckaert CJ (2003) Optimal operation of water distribution networks by predictive control using MINLP. Water SA 29: 393–404
Calafiore G, Dabbene F (2006) Probabilistic and randomized methods for design under uncertainty. Springer
Calafiore G, Dabbene F, Tempo R (2011) Research on probabilistic methods for control system design. Automatica 47(7): 1279–1293
Cannon M, Couchman P, Kouvaritakis B (2007) MPC for stochastic systems. In: Findeisen R, Allgöwer F, Biegler L (eds) Assessment and future directions of nonlinear model predictive control, volume 358 of lecture notes in control and information sciences. Springer, Berlin, pp 255–268
Charnes A, Cooper WW (1963) Deterministic equivalents for optimizing and satisfying under chance constraints. Oper Res 11(1): 18–39
Congcong S, Puig V, Cembrano G (2014) Temporal multi-level coordination techniques oriented to regional water networks: application to the Catalunya case study. J Hydroinform 16(4): 952–970
Geletu A, Klöppel M, Zhang H, Li P (2013) Advances and applications of chance-constrained approaches to systems optimization under uncertainty. Int J Syst Sci 44(7): 1209–1232
Grosso JM, Maestre JM, Ocampo-Martinez C, Puig V (2014) On the assessment of tree-based and chance-constrained predictive control approaches applied to drinking water networks. In: Proceedings of 19th IFAC world congress, Cape Town, South Africa, pp 6240–6245
Grosso JM, Ocampo-Martinez C, Puig V (2012) A service reliability model predictive control with dynamic safety stocks and actuators health monitoring for drinking water networks. In: Proceedings of 51st IEEE annual conference on decision and control (CDC)
Grosso JM, Ocampo-Martinez C, Puig V (2012) A service reliability model predictive control with dynamic safety stocks and actuators health monitoring for drinking water networks. In: Proceedings of 51st IEEE annual conference on decision and control (CDC), Maui, Hawaii, USA, pp 4568–4573
Grosso JM, Ocampo-Martinez C, Puig V, Joseph B (2014) Chance-constrained model predictive control for drinking water networks. J Process Control 24(5): 504–516
Heitsch H, Römisch W (2009) Scenario tree modeling for multistage stochastic programs. Math Program 118(2): 371–406
Kall P, Mayer J (2005) Stochastic linear programming. Number 80 in international series in operations research and management science. Springer, New York, NY
Korda M, Gondhalekar R, Cigler J, Oldewurtel F (2011) Strongly feasible stochastic model predictive control. In: Proceedings of 50th IEEE conference on decision and control and European control conference (CDC), pp 1245–1251
Leirens S, Zamora C, Negenborn RR, De Schutter B (2010) Coordination in urban water supply networks using distributed model predictive control. In: American control conference (ACC), pp 3957–3962
Lucia S, Subramanian S, Engell S (2013) Non-conservative robust nonlinear model predictive control via scenario decomposition. In: Proceedings of 2013 IEEE multi-conference on systems and control (MSC), Hyderabad, India, pp 586–591
Nemirovski A, Shapiro A (2006) Convex approximations of chance constrained programs. SIAM J Optim 17(4): 969–996
Ocampo-Martinez C, Puig V, Cembrano G, Creus R, Minoves M (2009) Improving water management efficiency by using optimization-based control strategies: the Barcelona case study. Water Sci Technol: Water Supply 9(5): 565–575
Ocampo-Martinez C, Puig V, Cembrano G, Quevedo J (2013) Application of predictive control strategies to the management of complex networks in the urban water cycle. IEEE Control Syst 33(1): 15–41
Ono M, Williams BC (2008) Iterative risk allocation: a new approach to robust model predictive control with a joint chance constraint. In: Proceedings of 47th IEEE conference on decision and control, Cancun, Mexico, pp 3427–3432
Ouarda TBMJ, Labadie JW (2001) Chance-constrained optimal control for multireservoir system optimization and risk analysis. Stoch Environ Res Risk Assess 15: 185–204
Prekopa A (1995) Stochastic programming. Kluwer Academic Publishers
Raso L, van Overloop PJ, Schwanenberg D (2009) Decisions under uncertainty: use of flexible model predictive control on a drainage canal system. In: Proceedings of the 9th conference on hydroinformatics, Tianjin, China
Rockafellar RT, Wets RJ-B (1991) Scenario and policy aggregation in optimization under uncertainty. Math Oper Res 16(1): 119–147
Sampathirao AK, Grosso JM, Sopasakis P, Ocampo-Martinez C, Bemporad A, Puig V (2014) Water demand forecasting for the optimal operation of large-scale drinking water networks: the Barcelona case study. In: Proceedings of 19th IFAC world congress, Cape Town, South Africa, pp 10457–10462
Schildbach G, Fagiano L, Frei C, Morari M (2013) The scenario approach for stochastic model predictive control with bounds on closed-loop constraint violations. Submitted to Automatica
Schwarm AT, Nikolaou M (1999) Chance-constrained model predictive control. AIChE J 45(8): 1743–1752
van Overloop PJ, van Clemmens AJ, Strand RJ, Wagemaker RMJ, Bautista E (2010) Real-time implementation of model predictive control on Maricopa-Stanfield irrigation and drainage district’s WM canal. J Irrig Drain Eng 136(11): 747–756
Zafra-Cabeza A, Maestre JM, Ridao MA, Camacho EF, Sánchez L (2011) A hierarchical distributed model predictive control approach in irrigation canals: a risk mitigation perspective. J Process Control 21(5):787–799
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2017 Springer International Publishing AG
About this chapter
Cite this chapter
Grosso, J.M., Ocampo-Martínez, C., Puig, V. (2017). Stochastic Model Predictive Control for Water Transport Networks with Demand Forecast Uncertainty. In: Puig, V., Ocampo-Martínez, C., Pérez, R., Cembrano, G., Quevedo, J., Escobet, T. (eds) Real-time Monitoring and Operational Control of Drinking-Water Systems. Advances in Industrial Control. Springer, Cham. https://doi.org/10.1007/978-3-319-50751-4_14
Download citation
DOI: https://doi.org/10.1007/978-3-319-50751-4_14
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-319-50750-7
Online ISBN: 978-3-319-50751-4
eBook Packages: EngineeringEngineering (R0)