Optimized robust model predictive control - application to drinking water distribution systems hydraulics

Model-based predictive control is an effective method for control the large scale systems. Method is based on offline solution of control task over the control horizon using current and past measurements as well as the system model. Because model and measurement uncertainty, predicted and plant outputs might be different and plant output may exceed plant output constraints. Generated control is not then robustly feasible. In this paper robustly feasible iterative control algorithm, based on safety zones and new efficient solver are presented. Proposed robustly feasible MPC applied to drinking water distribution system (DWDS) of the Chojnice city is presented.