Direct algorithm for optimizing robust MPC of drinking water distribution systems hydraulics

Model-based predictive control is an effective method for control the large scale systems. Method is based on on-lin 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 outputs feasible. In this paper robustly outputs feasible direct control algorithm, based on the robust output predictions and control vector are presented. Proposed robustly outputs feasible MPC is applied to drinking water distribution system (DWDS) of the Chojnice city.