Proportional and Proportional-Integral Controllers for a Nonlinear Hydraulic Network

We consider the problem of regulating to a reference value pressures across components in a nonlinear hydraulic network of a reduced-size yet meaningful district heating system with two end-users. Exploiting the analogy between electrical and hydraulic networks, we derive a nonlinear model for the system. Then we design and analyze a proportional and a proportional-integral controller which guarantee semi-global practical and, respectively, asymptotic regulation of the pressures.