Robust Economic Model Predictive Control of Water Transport Networks

In this paper, a robust economic model predictive controller is proposed for a water transport network. Considering that forecast of demand is required in the drinking water network (DWN) for future predictions of states in the MPC formulation, robustification of the proposed controller is undertaken considering demand uncertainties as unknown but bounded in a zonotopic set. Based on this uncertainty description, a robust MPC controller is designed that ensures that robust constraint satisfaction, stability and performance under uncertainties is guaranteed. The proposed approach is satisfactorily tested in a part of the Barcelona water transport network.