IRI - WATMAN: Analysis and Design of distributed optimal control strategies applied to large-scale WATer systems MANagement

The WATMAN Project deals with the global management of the hydric networks related to the UWC (called in the sequel UWC-related networks or simply UWC networks). It should be pointed out that this management not only comprises the design of control strategies to fulfill performance objectives but also includes the development of a control-oriented modeling for the UWC networks, regardless of their nature (raw-water, drinking water or sewage). Additionally, system disturbances, which are present in all engineering systems, must be taken into account. In the case of water systems, stochastic disturbances associated to water demand and rain predictions (for sewage network) are important examples thereof. The influence of those disturbances over the UWC networks, their nature and modelling approaches belong to the set of research topics to be treated within the project. UWC networks are generally considered large-scale systems - for medium to large cities, networks may consist of hundreds to thousands of elements like pipes, tanks, pumps and valves. Moreover, those networks may also be spread over large areas, fact that makes their management more difficult. WATMAN considers these issues and addresses the problem of computing optimal control strategies focused on finding solutions and tools that handle the aforementioned UWC networks characteristics considering decentralized control techniques.

Complex cases of study are waiting to be treated in WATMAN. The big and very complex sewer network of Barcelona, with strong nonlinear dynamics, hundred of constitutive elements and unpredictable weather as main source of disturbances, is one of the cases contemplated in WATMAN. Previous results reported by integrants of SAC already evidenced that this research line promises great improvements in the management of this sort of UWC networks. A second case of study consists in the drinking water network of Barcelona, which manages this appraised liquid from its collection in rivers and subterranean sources, and supplies it to the population of the metropolitan area of Barcelona. Despite this system is also a UWC network; it presents singularities, which do not allow to apply over it the previously developed approaches for sewage systems. So, all the research that will be made in the main topics of the whole project should be interpolated and new challenges and ways of research will be opened.

Project Publications

Journal Publications

R.M. Fernandez-Cantí, J. Blesa, V. Puig and S. Tornil-Sin. Set-membership identification and fault detection using a Bayesian framework. International Journal of Systems Science, 47(7): 1710-1724, 2016.

Abstract Info PDF
J. Vento, J. Blesa, V. Puig and R. Sarrate. Set-membership parity space hybrid system diagnosis. International Journal of Systems Science, 46(5): 790–807, 2015.

Abstract Info PDF
Y. Bolea, V. Puig and J. Blesa. Gain-scheduled Smith predictor PID-based LPV controller for open-flow canal control. IEEE Transactions on Control Systems Technology, 22(2): 468-477, 2014.

Abstract Info PDF
Y. Bolea, V. Puig and J. Blesa. Linear parameter varying modelling and identification for real-time control of open-flow irrigation canals. Environmental Modelling & Software, 53: 87-97, 2014.

Abstract Info PDF
S. Tornil-Sin, C. Ocampo-Martínez, V. Puig and T. Escobet. Robust fault diagnosis of non-linear systems using interval constraint satisfaction and analytical redundancy relations. IEEE Transactions on Systems, Man, and Cybernetics: Systems, 44(1): 18-29, 2014.

Abstract Info PDF
M.V. Casillas, L.E. Garza and V. Puig. Model-based leak detection and location in water distribution networks considering an extended-horizon analysis of pressure sensitivities. Journal of Hydroinformatics, 16(3): 649-670, 2014.

Abstract Info PDF
J. Romera, C. Ocampo-Martínez, V. Puig and J. Quevedo. Flooding management using hybrid model predictive control: Application to the Spanish Ebro River. Journal of Hydroinformatics, 15(2): 366-380, 2013.

Abstract Info PDF
C. Ocampo-Martínez, V. Puig, G. Cembrano and J. Quevedo. Application of predictive control strategies to the management of complex networks in the urban water cycle. IEEE Control Systems Magazine, 33(1): 15-41, 2013.

Abstract Info PDF
J. Pascual, J. Romera, V. Puig, G. Cembrano, R. Creus and M. Minoves. Operational predictive optimal control of Barcelona water transport network. Control Engineering Practice, 21(8): 1020-1034, 2013.

Abstract Info PDF
J.M. Grosso, C. Ocampo-Martínez and V. Puig. Learning-based tuning of supervisory model predictive control for drinking water networks. Engineering Applications of Artificial Intelligence, 26(7): 1741-1750, 2013.

Abstract Info PDF
S. Tornil-Sin, C. Ocampo-Martínez, V. Puig and T. Escobet. Robust fault detection of non-linear systems using set-membership state estimation based on constraint satisfaction. Engineering Applications of Artificial Intelligence, 25(1): 1-10, 2012.

Abstract Info PDF
C. Ocampo-Martínez, D. Barcelli, V. Puig and A. Bemporad. Hierarchical and decentralised model predictive control of drinking water networks: application to Barcelona case study. IET Control Theory and Applications, 6(1): 62–71, 2012.

Abstract Info PDF
A. Rosich, E. Frisk, J. Åslund, R. Sarrate and F. Nejjari. Fault diagnosis based on causal computations. IEEE Transactions on Systems, Man and Cybernetics, Part A: Systems and Humans, 42(2): 371-381, 2012.

Abstract Info PDF
J. Blesa, V. Puig and J. Saludes. Robust identification and fault diagnosis based on uncertain multiple input-multiple output linear parameter varying parity equations and zonotopes. Journal of Process Control, 22(10): 1890-1912, 2012.

Abstract Info PDF
S. Montes, V. Puig and J. Blesa. Robust fault detection based on adaptive threshold generation using interval LPV observers. International Journal of Adaptive Control and Signal Processing, 26(3): 258-283, 2012.

Abstract Info PDF
C. Ocampo-Martínez, S. Bovo and V. Puig. Partitioning approach oriented to the decentralised predictive control of large-scale systems. Journal of Process Control, 21(5): 775-786, 2011.

Abstract Info PDF
G. Cembrano, J. Quevedo, V. Puig, R. Pérez, J. Figueras, J.M. Verdejo i Rabassó, M.I. Escaler, G. Ramón, G. Barnet, P. Rodríguez and M. Casas. PLIO: a generic tool for real-time operational predictive optimal control of water networks. Water Science & Technology, 64(2): 448-459, 2011.

Abstract Info PDF
J. Blesa, V. Puig and J. Saludes. Identification for passive robust fault detection using zonotope-based set-membership approaches. International Journal of Adaptive Control and Signal Processing, 25(9): 788-812, 2011.

Abstract Info PDF
R. Pérez, V. Puig, J. Pascual, J. Quevedo, E. Landeros and A. Peralta. Methodology for leakage isolation using pressure sensitivity analysis in water distribution networks. Control Engineering Practice, 19(10): 1157-1167, 2011.

Abstract Info PDF
J. López, F.E. Cellier and G. Cembrano. Estimating the horizon of predictability in time-series predictions using inductive modelling tools. International Journal of General Systems, 40(3): 263-282, 2011.

Abstract Info PDF
C. Ocampo-Martínez, J.A. De Doná and M. Seron. Actuator fault-tolerant control based on set separation. International Journal of Adaptive Control and Signal Processing, 24(12): 1070-1090, 2010.

Abstract Info PDF
C. Ocampo-Martínez and V. Puig. Piece-wise linear functions-based model predictive control of large-scale sewage systems. IET Control Theory and Applications, 4(9): 1581-1593, 2010.

Abstract Info PDF
J. Quevedo, V. Puig, G. Cembrano, J. Blanch, J. Aguilar, D. Saporta, G. Benito, M. Hedo and A. Molina. Validation and reconstruction of flow meter data in the Barcelona water distribution network. Control Engineering Practice, 18(6): 640-651, 2010.

Abstract Info PDF
F.E. Cellier, J. López, M.A. Nebot and G. Cembrano. Confidence measures for predictions in fuzzy inductive reasoning. International Journal of General Systems, 39(8): 839-853, 2010.

Abstract Info PDF
J. Meseguer, V. Puig and T. Escobet. Fault diagnosis using a timed discrete-event approach based on interval observers: application to sewer networks. IEEE Transactions on Systems, Man and Cybernetics, Part A: Systems and Humans, 40(5): 900-916, 2010.

Abstract Info PDF

Conference Publications

C. Sun, V. Puig and G. Cembrano. Two-layer scheduling scheme for pump stations, 2014 IEEE Conference on Control Applications, 2014, Antibes, pp. 1741-1746.

Abstract Info PDF
C. Sun, V. Puig and G. Cembrano. Multi-layer model predictive control of regional water networks: Application to the Catalunya case study, 52nd IEEE Conference on Decision and Control, 2013, Florence, pp. 7095-7100.

Abstract Info PDF
F. Xu, V. Puig, C. Ocampo-Martínez, F. Stoican and S. Olaru. Sensor-fault detection and isolation using Interval observers, 2nd Conference on Control and Fault Tolerant Systems, 2013, Nice, France, pp. 55-60.

Abstract Info PDF
F. Xu, F. Stoican, V. Puig, C. Ocampo-Martínez and S. Olaru. On the relationship between interval observers and invariant sets in fault detection, 2nd Conference on Control and Fault Tolerant Systems, 2013, Nice, France, pp. 49-54.

Abstract Info PDF
F. Xu, F. Stoican, V. Puig, C. Ocampo-Martínez and S. Olaru. Fault detection and isolation based on the combination of a bank of interval observers and invariant sets, 21st Mediterranean Conference on Control and Automation, 2013, Crete, Greece, pp. 807-813.

Abstract Info PDF
B. Joseph, C. Ocampo-Martínez and G. Cembrano. A control-oriented hybrid modelling approach for sewer networks: Barcelona case study, 11th IWA Conference on Instrumentation, Control and Automation, 2013, Narbonne, France, IWA.

Abstract Info PDF
F. Xu, V. Puig, C. Ocampo-Martínez, F. Stoican and S. Olaru. Actuator-fault detection and isolation based on interval observers and invariant sets, 52nd IEEE Conference on Decision and Control, 2013, Florence, pp. 4385-4390.

Abstract Info PDF
B. Joseph, C. Ocampo-Martínez and G. Cembrano. Receding horizon control of hybrid linear delayed systems: Application to sewer networks, 52nd IEEE Conference on Decision and Control, 2013, Florence, pp. 2257-2262.

Abstract Info PDF
R. Sarrate, F. Nejjari and A. Rosich. Sensor placement for fault diagnosis performance maximization in distribution networks, 20th Mediterranean Conference on Control and Automation, 2012, Barcelona, pp. 110-115, IEEE.

Abstract Info PDF
A. Rosich. Sensor placement for fault detection and isolation based on structural models, 8th IFAC Symposium on Fault Detection Supervision and Safety for Technical Processes, 2012, Mexico City, Mexico, pp. 391-396.

Abstract Info PDF
R. Sarrate, F. Nejjari and A. Rosich. Model-based optimal sensor placement approaches to fuel cell stack system fault diagnosis, 8th IFAC Symposium on Fault Detection Supervision and Safety for Technical Processes, 2012, Mexico City, Mexico, pp. 96-101.

Abstract Info PDF
J. Quevedo, R. Pérez, J. Pascual, V. Puig, G. Cembrano and A. Peralta. Methodology to detect and isolate water losses in water hydraulic networks: Application to Barcelona water network, 8th IFAC Symposium on Fault Detection Supervision and Safety for Technical Processes, 2012, Mexico City, Mexico, pp. 922-927.

Abstract Info PDF
C. Ocampo-Martínez, V. Puig and S. Montes. Multi-rate decentralized MPC strategy for drinking water networks: Application to the Barcelona case study, 10th International Conference on Hydroinformatics, 2012, Hamburg, pp. 1-8, IWA.

Abstract Info PDF
V. Puig, C. Ocampo-Martínez, J. Romera, J. Quevedo, R. Negenborn, P. Rodríguez and S. de Campos. Model predictive control of combined irrigation and water supply systems: Application to the Guadiana river, 2012 IEEE International Conference on Networking, Sensing and Control, 2012, Beijing, China, pp. 85-90.

Abstract Info PDF
J.M. Grosso, C. Ocampo-Martínez and V. Puig. Adaptive multilevel neuro-fuzzy model predictive control for drinking water networks, 20th Mediterranean Conference on Control and Automation, 2012, Barcelona, pp. 1548-1553, IEEE.

Abstract Info PDF
D. Robles, V. Puig, C. Ocampo-Martínez and L.E. Garza Castañón. Methodology for actuator fault tolerance evaluation of linear constrained MPC: application to the Barcelona water network, 20th Mediterranean Conference on Control and Automation, 2012, Barcelona, pp. 518-523, IEEE.

Abstract Info PDF
V. Puig, C. Ocampo-Martínez and S. Montes. Hierarchical temporal multi-layer decentralised MPC strategy for drinking water networks: application to the Barcelona case study, 20th Mediterranean Conference on Control and Automation, 2012, Barcelona, pp. 734-739, IEEE.

Abstract Info PDF
J.M. Grosso, C. Ocampo-Martínez and V. Puig. A service reliability model predictive control with dynamic safety stocks and actuators health monitoring for drinking water networks, 51st IEEE Conference on Decision and Control, 2012, Maui, pp. 4568-4573, IEEE.

Abstract Info PDF
C. Ocampo-Martínez, V. Puig and S. Bovo. Decentralised MPC based on a graph partitioning approach applied to the Barcelona drinking water network, 18th IFAC World Congress, 2011, Milan, Italy, pp. 1-6.

Abstract Info PDF
R. Toro, C. Ocampo-Martínez, F. Logist, J. Van Impe and V. Puig. Tuning of predictive controllers for drinking water networked systems, 18th IFAC World Congress, 2011, Milan, Italy, pp. 1-6.

Abstract Info PDF
J. Romera, C. Ocampo-Martínez, V. Puig, J. Quevedo, P. García and G. Pérez. Flooding management using hybrid model predictive control at the Ebro river in Spain, 8th IWA Symposium on System Analysis and Integrated Assessment, 2011, San Sebastian, Spain, pp. 1-8, IWA.

Abstract Info PDF
C. Ocampo-Martínez, V. Fambrini, D. Barcelli and V. Puig. Model predictive control of drinking water networks: A hierarchical and decentralized approach, 2010 American Control Conference, 2010, Baltimore MD, USA, pp. 3951-3956, IEEE.

Abstract Info PDF
V. Javalera, B. Morcego and V. Puig. Distributed MPC for large scale systems using agent-based reinforcement learning, 12th IFAC Symposium on Large-Scale Systems: Theory and Applications, 2010, Villeneuve d'Ascq, France, pp. 1-6, IFAC.

Abstract Info PDF
D. Barcelli, C. Ocampo-Martínez, V. Puig and A. Bemporad. Decentralized model predictive control of drinking water networks using an automatic subsystem decomposition approach, 12th IFAC Symposium on Large-Scale Systems: Theory and Applications, 2010, Villeneuve d'Ascq, France, pp. 1-6, IFAC.

Abstract Info PDF
R. Pérez, V. Puig, J. Pascual, J. Quevedo, E. Landeros and A. Peralta. Leakage isolation using pressure sensitivity analysis in water distribution networks: Application to the Barcelona case study, 12th IFAC Symposium on Large-Scale Systems: Theory and Applications, 2010, Villeneuve d'Ascq, France, pp. 1-6, IFAC.

Abstract Info PDF
V. Javalera, B. Morcego and V. Puig. Negotiation and learning in distributed MPC of large scale systems, 2010 American Control Conference, 2010, Baltimore MD, USA, pp. 3168-3173, IEEE.

Abstract Info PDF

Other Publications

C. Ocampo-Martínez. Model predictive control of wastewater systems. Volume 30 of Advances in Industrial Control. Springer, 2011.

Abstract Info PDF

C. Ocampo-Martínez, V. Puig, J.M. Grosso and S. Montes. Multi-layer decentralized MPC of large-scale networked systems. In Distributed Model Predictive Control Made Easy, 495-515. Springer, 2014.

Abstract Info PDF

B. Joseph, C. Ocampo-Martínez and G. Cembrano. Hybrid linear sewer network model. Technical Report IRI-TR-13-01, Institut de Robòtica i Informàtica Industrial, CSIC-UPC, 2013.

Abstract Info PDF

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Research Project

WATMAN: Analysis and Design of distributed optimal control strategies applied to large-scale WATer systems MANagement

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Project Publications

Journal Publications

R.M. Fernandez-Cantí, J. Blesa, V. Puig and S. Tornil-Sin. Set-membership identification and fault detection using a Bayesian framework. International Journal of Systems Science, 47(7): 1710-1724, 2016.

J. Vento, J. Blesa, V. Puig and R. Sarrate. Set-membership parity space hybrid system diagnosis. International Journal of Systems Science, 46(5): 790–807, 2015.

Y. Bolea, V. Puig and J. Blesa. Gain-scheduled Smith predictor PID-based LPV controller for open-flow canal control. IEEE Transactions on Control Systems Technology, 22(2): 468-477, 2014.

Y. Bolea, V. Puig and J. Blesa. Linear parameter varying modelling and identification for real-time control of open-flow irrigation canals. Environmental Modelling & Software, 53: 87-97, 2014.

S. Tornil-Sin, C. Ocampo-Martínez, V. Puig and T. Escobet. Robust fault diagnosis of non-linear systems using interval constraint satisfaction and analytical redundancy relations. IEEE Transactions on Systems, Man, and Cybernetics: Systems, 44(1): 18-29, 2014.

M.V. Casillas, L.E. Garza and V. Puig. Model-based leak detection and location in water distribution networks considering an extended-horizon analysis of pressure sensitivities. Journal of Hydroinformatics, 16(3): 649-670, 2014.

J. Romera, C. Ocampo-Martínez, V. Puig and J. Quevedo. Flooding management using hybrid model predictive control: Application to the Spanish Ebro River. Journal of Hydroinformatics, 15(2): 366-380, 2013.

C. Ocampo-Martínez, V. Puig, G. Cembrano and J. Quevedo. Application of predictive control strategies to the management of complex networks in the urban water cycle. IEEE Control Systems Magazine, 33(1): 15-41, 2013.

J. Pascual, J. Romera, V. Puig, G. Cembrano, R. Creus and M. Minoves. Operational predictive optimal control of Barcelona water transport network. Control Engineering Practice, 21(8): 1020-1034, 2013.

J.M. Grosso, C. Ocampo-Martínez and V. Puig. Learning-based tuning of supervisory model predictive control for drinking water networks. Engineering Applications of Artificial Intelligence, 26(7): 1741-1750, 2013.

S. Tornil-Sin, C. Ocampo-Martínez, V. Puig and T. Escobet. Robust fault detection of non-linear systems using set-membership state estimation based on constraint satisfaction. Engineering Applications of Artificial Intelligence, 25(1): 1-10, 2012.

C. Ocampo-Martínez, D. Barcelli, V. Puig and A. Bemporad. Hierarchical and decentralised model predictive control of drinking water networks: application to Barcelona case study. IET Control Theory and Applications, 6(1): 62–71, 2012.

A. Rosich, E. Frisk, J. Åslund, R. Sarrate and F. Nejjari. Fault diagnosis based on causal computations. IEEE Transactions on Systems, Man and Cybernetics, Part A: Systems and Humans, 42(2): 371-381, 2012.

J. Blesa, V. Puig and J. Saludes. Robust identification and fault diagnosis based on uncertain multiple input-multiple output linear parameter varying parity equations and zonotopes. Journal of Process Control, 22(10): 1890-1912, 2012.

S. Montes, V. Puig and J. Blesa. Robust fault detection based on adaptive threshold generation using interval LPV observers. International Journal of Adaptive Control and Signal Processing, 26(3): 258-283, 2012.

C. Ocampo-Martínez, S. Bovo and V. Puig. Partitioning approach oriented to the decentralised predictive control of large-scale systems. Journal of Process Control, 21(5): 775-786, 2011.

G. Cembrano, J. Quevedo, V. Puig, R. Pérez, J. Figueras, J.M. Verdejo i Rabassó, M.I. Escaler, G. Ramón, G. Barnet, P. Rodríguez and M. Casas. PLIO: a generic tool for real-time operational predictive optimal control of water networks. Water Science & Technology, 64(2): 448-459, 2011.

J. Blesa, V. Puig and J. Saludes. Identification for passive robust fault detection using zonotope-based set-membership approaches. International Journal of Adaptive Control and Signal Processing, 25(9): 788-812, 2011.

R. Pérez, V. Puig, J. Pascual, J. Quevedo, E. Landeros and A. Peralta. Methodology for leakage isolation using pressure sensitivity analysis in water distribution networks. Control Engineering Practice, 19(10): 1157-1167, 2011.

J. López, F.E. Cellier and G. Cembrano. Estimating the horizon of predictability in time-series predictions using inductive modelling tools. International Journal of General Systems, 40(3): 263-282, 2011.

C. Ocampo-Martínez, J.A. De Doná and M. Seron. Actuator fault-tolerant control based on set separation. International Journal of Adaptive Control and Signal Processing, 24(12): 1070-1090, 2010.

C. Ocampo-Martínez and V. Puig. Piece-wise linear functions-based model predictive control of large-scale sewage systems. IET Control Theory and Applications, 4(9): 1581-1593, 2010.

J. Quevedo, V. Puig, G. Cembrano, J. Blanch, J. Aguilar, D. Saporta, G. Benito, M. Hedo and A. Molina. Validation and reconstruction of flow meter data in the Barcelona water distribution network. Control Engineering Practice, 18(6): 640-651, 2010.

F.E. Cellier, J. López, M.A. Nebot and G. Cembrano. Confidence measures for predictions in fuzzy inductive reasoning. International Journal of General Systems, 39(8): 839-853, 2010.

J. Meseguer, V. Puig and T. Escobet. Fault diagnosis using a timed discrete-event approach based on interval observers: application to sewer networks. IEEE Transactions on Systems, Man and Cybernetics, Part A: Systems and Humans, 40(5): 900-916, 2010.

Conference Publications

C. Sun, V. Puig and G. Cembrano. Two-layer scheduling scheme for pump stations, 2014 IEEE Conference on Control Applications, 2014, Antibes, pp. 1741-1746.

C. Sun, V. Puig and G. Cembrano. Multi-layer model predictive control of regional water networks: Application to the Catalunya case study, 52nd IEEE Conference on Decision and Control, 2013, Florence, pp. 7095-7100.

F. Xu, V. Puig, C. Ocampo-Martínez, F. Stoican and S. Olaru. Sensor-fault detection and isolation using Interval observers, 2nd Conference on Control and Fault Tolerant Systems, 2013, Nice, France, pp. 55-60.

F. Xu, F. Stoican, V. Puig, C. Ocampo-Martínez and S. Olaru. On the relationship between interval observers and invariant sets in fault detection, 2nd Conference on Control and Fault Tolerant Systems, 2013, Nice, France, pp. 49-54.

F. Xu, F. Stoican, V. Puig, C. Ocampo-Martínez and S. Olaru. Fault detection and isolation based on the combination of a bank of interval observers and invariant sets, 21st Mediterranean Conference on Control and Automation, 2013, Crete, Greece, pp. 807-813.

B. Joseph, C. Ocampo-Martínez and G. Cembrano. A control-oriented hybrid modelling approach for sewer networks: Barcelona case study, 11th IWA Conference on Instrumentation, Control and Automation, 2013, Narbonne, France, IWA.

F. Xu, V. Puig, C. Ocampo-Martínez, F. Stoican and S. Olaru. Actuator-fault detection and isolation based on interval observers and invariant sets, 52nd IEEE Conference on Decision and Control, 2013, Florence, pp. 4385-4390.

B. Joseph, C. Ocampo-Martínez and G. Cembrano. Receding horizon control of hybrid linear delayed systems: Application to sewer networks, 52nd IEEE Conference on Decision and Control, 2013, Florence, pp. 2257-2262.

R. Sarrate, F. Nejjari and A. Rosich. Sensor placement for fault diagnosis performance maximization in distribution networks, 20th Mediterranean Conference on Control and Automation, 2012, Barcelona, pp. 110-115, IEEE.

A. Rosich. Sensor placement for fault detection and isolation based on structural models, 8th IFAC Symposium on Fault Detection Supervision and Safety for Technical Processes, 2012, Mexico City, Mexico, pp. 391-396.

R. Sarrate, F. Nejjari and A. Rosich. Model-based optimal sensor placement approaches to fuel cell stack system fault diagnosis, 8th IFAC Symposium on Fault Detection Supervision and Safety for Technical Processes, 2012, Mexico City, Mexico, pp. 96-101.

C. Ocampo-Martínez, V. Puig and S. Montes. Multi-rate decentralized MPC strategy for drinking water networks: Application to the Barcelona case study, 10th International Conference on Hydroinformatics, 2012, Hamburg, pp. 1-8, IWA.

J.M. Grosso, C. Ocampo-Martínez and V. Puig. Adaptive multilevel neuro-fuzzy model predictive control for drinking water networks, 20th Mediterranean Conference on Control and Automation, 2012, Barcelona, pp. 1548-1553, IEEE.

D. Robles, V. Puig, C. Ocampo-Martínez and L.E. Garza Castañón. Methodology for actuator fault tolerance evaluation of linear constrained MPC: application to the Barcelona water network, 20th Mediterranean Conference on Control and Automation, 2012, Barcelona, pp. 518-523, IEEE.

V. Puig, C. Ocampo-Martínez and S. Montes. Hierarchical temporal multi-layer decentralised MPC strategy for drinking water networks: application to the Barcelona case study, 20th Mediterranean Conference on Control and Automation, 2012, Barcelona, pp. 734-739, IEEE.

J.M. Grosso, C. Ocampo-Martínez and V. Puig. A service reliability model predictive control with dynamic safety stocks and actuators health monitoring for drinking water networks, 51st IEEE Conference on Decision and Control, 2012, Maui, pp. 4568-4573, IEEE.

C. Ocampo-Martínez, V. Puig and S. Bovo. Decentralised MPC based on a graph partitioning approach applied to the Barcelona drinking water network, 18th IFAC World Congress, 2011, Milan, Italy, pp. 1-6.

R. Toro, C. Ocampo-Martínez, F. Logist, J. Van Impe and V. Puig. Tuning of predictive controllers for drinking water networked systems, 18th IFAC World Congress, 2011, Milan, Italy, pp. 1-6.

J. Romera, C. Ocampo-Martínez, V. Puig, J. Quevedo, P. García and G. Pérez. Flooding management using hybrid model predictive control at the Ebro river in Spain, 8th IWA Symposium on System Analysis and Integrated Assessment, 2011, San Sebastian, Spain, pp. 1-8, IWA.

C. Ocampo-Martínez, V. Fambrini, D. Barcelli and V. Puig. Model predictive control of drinking water networks: A hierarchical and decentralized approach, 2010 American Control Conference, 2010, Baltimore MD, USA, pp. 3951-3956, IEEE.

V. Javalera, B. Morcego and V. Puig. Distributed MPC for large scale systems using agent-based reinforcement learning, 12th IFAC Symposium on Large-Scale Systems: Theory and Applications, 2010, Villeneuve d'Ascq, France, pp. 1-6, IFAC.

D. Barcelli, C. Ocampo-Martínez, V. Puig and A. Bemporad. Decentralized model predictive control of drinking water networks using an automatic subsystem decomposition approach, 12th IFAC Symposium on Large-Scale Systems: Theory and Applications, 2010, Villeneuve d'Ascq, France, pp. 1-6, IFAC.

V. Javalera, B. Morcego and V. Puig. Negotiation and learning in distributed MPC of large scale systems, 2010 American Control Conference, 2010, Baltimore MD, USA, pp. 3168-3173, IEEE.

Other Publications

C. Ocampo-Martínez. Model predictive control of wastewater systems. Volume 30 of Advances in Industrial Control. Springer, 2011.

C. Ocampo-Martínez, V. Puig, J.M. Grosso and S. Montes. Multi-layer decentralized MPC of large-scale networked systems. In Distributed Model Predictive Control Made Easy, 495-515. Springer, 2014.

B. Joseph, C. Ocampo-Martínez and G. Cembrano. Hybrid linear sewer network model. Technical Report IRI-TR-13-01, Institut de Robòtica i Informàtica Industrial, CSIC-UPC, 2013.