A modeling and distributed MPC approach for water distribution networks

Abstract This paper deals with the modeling and control of water distribution networks consisting of multiple pressure zones that are interconnected by fixed-speed pumps. A simplified control-oriented model with linear dynamics and non-convex constraints which considers the pressures and losses in the zones is derived. Based on the model, a periodic distributed model predictive scheme which is tailored to the non-convex constraints and minimizes an economic objective is introduced. The scheme uses event-triggered communication between the subsystems to reduce the communicational load. The proposed model and controller are evaluated using a model of the water distribution network of the city of Kaiserslautern, Germany.