Multivariable Regulator Approach to Sewer Network Flow Control

Abstract

The problem of optimal water distribution to a range of retention reservoirs in an urban sewer network during rainfall events is considered in this paper. The goal of the control actions is the minimization of overflows and eventually the reduction of their polluting impact on receiving waters. A multilayer control structure consisting of an adaptation, an optimization, and a direct control layer, is proposed for the solution of this complex control problem. Several approaches have been proposed with regard to the optimization layer. This paper proposes a linear multivariable feedback regulator that is developed via a systematic design procedure, including a simplified model, a quadratic minimization criterion, and subsequent application of the linear-quadratic optimization method. Inflow predictions are accommodated through feedforward terms in the control law. The control design guidelines facilitate a quick and efficient regulator design for a broad class of sewer network control problems. Simulation tests for a particular large network and various inflow scenarios indicate that significant overflow reductions are achieved by the application of the linear-quadratic regulator.