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.


linear programming, linear quadratic control, nonlinear programming, predictive control.

Author keywords

Model-based predictive control, hybrid systems, piece-wise linear functions, non-linear optimization, sewer networks

Scientific reference

C. Ocampo-Martínez and V. Puig. Modelling approaches for MPC of large-scale sewage systems. Technical Report IRI-TR-09-01, Institut de Robòtica i Informàtica Industrial, CSIC-UPC, 2009.