Efficient Implementation and Sampling Period Analysis of MPC for Water Distribution Networks*

In this paper we consider the design and implementation of Model Predictive Control (MPC) for water distribution networks (WDNs). First, we define the nonlinear differential algebraic equations that model a WDN, using both classical methods and simplified pump implementations. Then the cost function used in the MPC algorithm is formulated, where extra steps are taken to build a quadratic and convex cost function. The entire control problem is solved using a tailored sequential quadratic programming (SQP) method. The resulting control algorithm for WDNs is tested on a small distribution network to both illustrate the effectiveness and to perform additional tests on the effects of reducing the sampling period. The simulation results of this experiment indicate that the presented SQP–MPC can be implemented at faster rates than 1 hour and that this results in improved economic benefits.