Decentralized control for urban drainage systems using replicator dynamics

This paper proposes a decentralized control scheme that mitigates floods in urban drainage systems (UDSs). First, we develop a partitioning algorithm of the UDS relying on a graph model of the system. Once this is done, we design a local controller for each partition based on the replicator dynamics model (a set of differential equations that describes the evolution of a population of players involved in a strategic game). The decentralized nature of the proposed strategy makes it suitable for applying it in large-scale systems. Stability of the closed-loop system is proved by using Lyapunov theory. Furthermore, we simulate the performance of the decentralized control scheme in two case studies. One of them models part of the Bogotá (Colombia) stormwater UDS. Finally, we compare the proposed technique with two widely used methods for-real time control of UDSs, i.e., constrained linear quadratic regulator (LQR) and model predictive control (MPC).Peer ReviewedPostprint (published version

A differential game approach to urban drainage systems control

© 20xx IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.Urban drainage systems (UDSs) are complex large-scale systems that carry stormwater and wastewater throughout urban areas. During heavy rain scenarios, UDSs are not able to handle the amount of extra water that enters the network and flooding occurs. Usually, this might happen because the network is not being used efficiently, i.e., some structures remain underused while many others are overused. This paper proposes a control methology based on differential game theory that aims to efficiently use the existing network elements in order to minimize overflows and properly manage the water resource. The proposed controller is tested on a typical UDS and is compared with a centralized MPC achieving similar results in terms of flooding minimization and network usage, but only using local information on distributed controllers.Peer ReviewedPostprint (author's final draft

MatSWMM - An open-source toolbox for designing real-time control of urban drainage systems

This manuscript describes the MatSWMM toolbox, an open-source Matlab, Python, and LabVIEW-based software package for the analysis and design of real-time control (RTC) strategies in urban drainage systems (UDS). MatSWMM includes control-oriented models of UDS, and the storm water management model (SWMM) of the US Environmental Protection Agency (EPA), as well as systematic-system edition functionalities. Furthermore, MatSWMM is also provided with a population-dynamics-based controller for UDS with three of the fundamental dynamics, i.e., the Smith, projection, and replicator dynamics. The simulation algorithm, and a detailed description of the features of MatSWMM are presented in this manuscript in order to illustrate the capabilities that the tool has for educational and research purposes.Peer ReviewedPostprint (author's final draft

Modeling and real-time control of urban drainage systems: A review

Urban drainage systems (UDS) may be considered large-scale systems given their large number of associated states and decision actions, making challenging their real-time control (RTC) design. Moreover, the complexity of the dynamics of the UDS makes necessary the development of strategies for the control design. This paper reviews and discusses several techniques and strategies commonly used for the control of UDS. Moreover, the models to describe, simulate, and control the transport of wastewater in UDS are also reviewed.This work has been partially supported by Mexichem, Colombia through the project “Drenaje Urbano y Cambio Climático: Hacia los Sistemas de Alcantarillado del Futuro.” Fase II, with reference No. 548-2012, the scholarships of Colciencias No. 567-2012 and 647-2013, and the project ECOCIS (Ref. DPI2013-48243-C2-1-R).Peer Reviewe

Human-in-the-Loop Model Predictive Control of an Irrigation Canal

Until now, advanced model-based control techniques have been predominantly employed to control problems that are relatively straightforward to model. Many systems with complex dynamics or containing sophisticated sensing and actuation elements can be controlled if the corresponding mathematical models are available, even if there is uncertainty in this information. Consequently, the application of model-based control strategies has flourished in numerous areas, including industrial applications [1]-[3].Junta de Andalucía P11-TEP-812

On the modeling and real-time control of urban drainage systems: A survey

Trabajo presentado a la 11th International Conference on Hydroinformatics celebrada en New York (US) del 17 al 21 de agosto de 2014.Drainage networks are complex systems composed by several processes including recollection, transport, storing, treatment, and releasing the water to a receiving environment. The way Urban Drainage Systems (UDS) manage wastewater is through the convenient handling of active elements such as gates (redirection and/or retention), storing tanks, and pumping stations, when needed. Therefore, modeling and control of UDS basically consists in knowing and representing the (dynamical) behavior of these elements and managing them properly in order to achieve a given set of control objectives, such as minimization of flooding in streets or maximization of treated wastewater in the system. Given the large number of elements composing an UDS and the interaction between them, management and control strategies may depend on highly complex system models, which implies the explicit difficulty for designing real-time control (RTC) strategies. This paper makes a review of the models used to describe, simulate, and control UDS, proposes a revision of the techniques and strategies commonly used for the control UDS, and finally compares several control strategies based on a case study.This work has been partially supported by project N°548-2012 “Drenaje Urbano y Cambio Climático: Hacia los Sistemas de Alcantarillado del Futuro.”, Mexichem Colombia S.A, the scholarships of Colciencias N°567-2012 and 647-2013, and the EU Project EFFINET (FP7-ICT-2011-8-31855) and the DGR of Generalitat de Catalunya (SAC group Ref. 2009/SGR/1491).Peer Reviewe