Economic Model Predictive Control with Nonlinear Constraint Relaxation for the Operational Management of Water Distribution Networks

Abstract

This paper presents the application of an economic model predictive control (MPC) for the operational management of water distribution networks (WDNs) with periodic operation and nonlinear constraint relaxation. In addition to minimizing operational costs, the proposed approach aims to reduce the computational load and to improve the implementation efficiency associated with the nonlinear nature of the MPC problem. The behavior of the WDN is characterized by a set of difference-algebraic equations, where the relation of hydraulic pressure/head and flow in interconnected pipes is nonlinear. Specifically, the considered WDN model includes two categories of nonlinear algebraic equations for uni..