Technical University of Crete

1. INTRODUCTION

2. CONTROL PROBLEM FORMULATION

2.1. Mathematical Model and Constraints

2.1.1. Reservoirs
2.1.2. Summation Locations
2.1.3. External Inflows
2.1.4. Link Elements
2.1.5. Treatment Plant
2.1.6. Integrated Network Model

2.2. Control Objectives

3. REGULATOR DESIGN

3.1. Linear Quadratic Formulation
3.2. Alternative LQ Formulation
3.3 Multivariable Control Law
3.4 Multivariable Control Law Using Inflow Predictions
3.5 An Illustrative Example

4. APPLICATION EXAMPLE

4.1. Application Network
4.2. External Inflows
4.3 LQ Formulation of the Application example
4.4 Nonlinear Optimal Control
4.5 Simulation

5. RESULTS

5.1 Computational Effort
5.2 Selection of the Weighting Matrix R
5.3 Multivariable Feedback Controller without Feedforward terms

5.3.1. Comparison of Approaches
5.3.2. Control and State Trajectories
5.3.3. Comparison between Nonlinear Optimal Control and Multivariable Feedback Control

5.4 Multivariable Feedback Controller with Feedforward Terms56
5.5 Some General Observations for the Multivariable Regulator62

6. CONCLUSIONS

REFERENCES

APPENDIX A: LINEAR QUADRATIC OPTIMAL CONTROL

A.1. LQ Problem Formulation
A.2. Time - Variant Solution
A.3. Time - Invariant Solution

APPENDIX B: DIAGRAMS