Fault-tolerant model predictive control of water transport networks

Book Chapter (2017)

Book Title

Real-Time Monitoring and Operational Control of Drinking-Water Systems








Advances in Industrial Control

Doc link


Download the digital copy of the doc pdf document


The operational control of a water network needs to be operative even in fault conditions. This problem calls for the use of fault tolerance control (FTC) mechanisms, after a fault is diagnosed, which avoid that the global RTC should be stopped every time that a fault appears. FTC is introduced in order to address the growing demand of plant availability. The aim of FTC is to keep plant fully operative by designing the control system such that it can maintain system performance close to the 35 desirable one and preserves stability conditions not only when the system is in a faultfree case but also in the presence of faulty system components, or at least can ensure acceptable degraded performances. Fault-tolerance against faults can be embedded in MPC relatively easy in several ways: Changing the constraints in order to represent the fault effect, modifying the internal plant model used by the MPC in order to reflect the fault effect or relaxing the nominal control objectives in order to reflect system limitations under faulty conditions. In this chapter, a fault-tolerant and health approach for Model Predictive Control (MPC) applied to Drinking Water Transport Networks (DWTNs) is presented. The proposed approach combines the use of structural, feasibility, performance and reliability analyses. This approach would be useful for deciding whether the MPC controller will be able to continue operating after the appearance of a given actuator fault. Moreover, by evaluating the admissibility of the different actuator-fault configurations (AFC) critical actuators regarding fault-tolerance could be identified. Structural analysis allows evaluating the loss of reachability after a fault occurrence. Results from the structural analysis may be complemented with the feasibility analysis of the MPC problem taking into account the effect of actuator constraints after the fault occurrence. Finally, the proposed approach allows to perform a degradation analysis of the system performance and reliability. The proposed approach is tested in the Barcelona Water Network. As result of application of the different analyses, relevant information regarding the fault tolerance of the network could be extracted as e.g. the critical actuators.


automation, control theory, optimisation.

Author keywords

fault-tolerant control, predictive control, flow networks

Scientific reference

V. Puig, C. Ocampo-Martínez, D. Robles and L.E. Garza. Fault-tolerant model predictive control of water transport networks. In Real-Time Monitoring and Operational Control of Drinking-Water Systems, 291-319. Springer, 2017.