Model Predictive Control of Wastewater Systems (Advances in Industrial Control)

Series Editors’ Foreword
Foreword
Preface
Acknowledgements
Contents
List of Tables
List of Figures
Notation
Acronyms
Chapter 1 - Introduction
	1.1 Motivation
		1.1.1 Sewer Networks as Complex Systems
		1.1.2 Model Predictive Control
		1.1.3 Fault-tolerant Control
	1.2 Main Objectives of the Book
	1.3 Outline of the Book
		Chapter 2: Background
		Chapter 3: Principles of the Mathematical Modelling of Sewer Networks
		Chapter 4: Formulating the Model Predictive Control Problem
		Chapter 5: MPC Problem Formulation and Hybrid Systems
		Chapter 6: Suboptimal Hybrid Model Predictive Control
		Chapter 7: Model Predictive Control and Fault Tolerance
		Chapter 8: Fault-tolerance Evaluation of Actuator Fault Configurations
		Chapter 9: Concluding Remarks
Part I - Background and Case Study Modelling
	Chapter 2 - Background
		2.1 Sewer Networks: Definitions and Real-time Control
			2.1.1 Description and Main Concepts
			2.1.2 RTC of Sewage Systems
		2.2 MPC and Hybrid Systems
			2.2.1 MPC Strategy Description
			2.2.2 Hybrid Systems
			2.2.3 MPC Problem and Hybrid Systems
		2.3 Fault-tolerance Mechanisms
			2.3.1 Fault Tolerance by Adapting the Control Strategy
			2.3.2 Fault Tolerance by Repositioning Sensors and/or Actuators
		2.4 Summary
	Chapter 3 - Principles of the Mathematical Modelling ofSewer Networks
		3.1 Fundamentals of the Mathematical Model
			3.1.1 Virtual and Real Tanks
			3.1.2 Manipulated Gates
			3.1.3 Weirs (Nodes) and Sewage Pipes
		3.2 Calibration of Model Parameters
		3.3 Description of the Case Study
			3.3.1 Barcelona’s Sewer Network
			3.3.2 Barcelona Test Catchment
			3.3.3 Rain Episodes
		3.4 Summary
Part II - Model Predictive Control of Sewer Networks
	Chapter 4 - Formulating the Model Predictive Control Problem
		4.1 General Considerations
		4.2 Control Problem Formulation
			4.2.1 Control Objectives
			4.2.2 Cost Function Formulation
			4.2.3 Control Problem Constraints
		4.3 Multi-objective Optimisation
		4.4 Closed-loop System Configuration
			4.4.1 Model Definition
			4.4.2 Simulation of Scenarios
			4.4.3 Criteria for Comparison
		4.5 Discussion of the Results
		4.6 Summary
	Chapter 5 - Predictive Control Problem Formulation and Hybrid Systems
		5.1 Hybrid ModellingMethodology
			5.1.1 Virtual Tanks (VT)
			5.1.2 Real Tanks with Input Gates (RTIG)
			5.1.3 Redirection Gates (RG)
			5.1.4 Sewage Pipes (SP)
			5.1.5 The Entire MLD Catchment Model
		5.2 Predictive Control Strategy
			5.2.1 Control Objectives
			5.2.2 Cost Function
			5.2.3 Problem Constraints
			5.2.4 MIPC Problem
		5.3 Simulation and Results
			5.3.1 Preliminaries
			5.3.2 MLD Model Descriptions and Controller Set-up
			5.3.3 Performance Improvement
		5.4 Summary
	Chapter 6 - Suboptimal Hybrid Model Predictive Control
		6.1 Motivation
		6.2 General Aspects
			6.2.1 Phase Transitions in MIP Problems
			6.2.2 Strategies to Deal with the Complexity of HMPC
		6.3 MPC of Hybrid Systems IncorporatingMode Sequence Constraints
			6.3.1 Description of the Approach
			6.3.2 Practical Issues
		6.4 Suboptimal HMPC Strategy for Sewer Networks
			6.4.1 Suboptimal Strategy Set-up
			6.4.2 Simulation of Scenarios
			6.4.3 Main Results
		6.5 Suboptimal MPC Approach Based on Piecewise Linear Functions
			6.5.1 PWLF Modelling Approach
			6.5.2 Simulations and Results
		6.6 Summary
Part III - Fault-tolerance Capabilities of Model Predictive Control
	Chapter 7 - Model Predictive Control and Fault Tolerance
		7.1 General Aspects
		7.2 Fault-tolerant Control and Hybrid Systems
		7.3 Fault-tolerance Capabilities of MPC
			7.3.1 Implicit Capabilities
			7.3.2 Explicit Capabilities
		7.4 Including Fault Tolerance in HMPC
			7.4.1 Implicit Fault-tolerant HMPC
			7.4.2 Explicit Fault-tolerant HMPC
			7.4.3 An Illustrative Example
		7.5 Some FTHMPC Implementation Schemes
		7.6 Fault-tolerant HMPC of Sewer Networks
			7.6.1 Fault Scenarios
			7.6.2 Linear Plant Models and Actuator Faults
			7.6.3 Hybrid Modelling and Actuator Faults
			7.6.4 Implementation and Results
		7.7 Summary
	Chapter 8 - Fault-tolerance Evaluation of Actuator Fault Configurations
		8.1 Introduction
		8.2 Preliminary Definitions
		8.3 Admissibility Evaluation Approaches
			8.3.1 Admissibility Evaluation Using Constraint Satisfaction
			8.3.2 Admissibility Evaluation Using Set Computation
		8.4 Actuator Fault Tolerance Evaluation in Sewer Networks
			8.4.1 System Description
			8.4.2 Control Objectives and Admissibility Criterion
			8.4.3 Main Results
		8.5 Summary
Part IV - Concluding Remarks
	Chapter 9 - Concluding Remarks
		9.1 Final Discussion
		9.2 Possible Directions for Future Research
References
Index