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

Data-driven evolutionary-game-based control for drinking-water networks

The final publication is available at link.springer.comThis book presents a set of approaches for the real-time monitoring and control of drinking-water networks based on advanced information and communication technologies. It shows the reader how to achieve significant improvements in efficiency in terms of water use, energy consumption, water loss minimization, and water quality guarantees. The methods and approaches presented are illustrated and have been applied using real-life pilot demonstrations based on the drinking-water network in Barcelona, Spain. The proposed approaches and tools cover: - decision-making support for real-time optimal control of water transport networks, explaining how stochastic model predictive control algorithms that take explicit account of uncertainties associated with energy prices and real demand allow the main flow andpressure actuators—pumping stations and pressure regulation valves—and intermediate storage tanks to be operated to meet demand using the most sustainable types of source and with minimum electricity costs; - decision-making support for monitoring water balance and distribution network quality in real time, implementing fault detection anddiagnosis techniques and using information from hundreds of flow,pressure, and water-quality sensors together with hydraulic and quality-parameter-evolution models to detect and locate leaks in the network, possible breaches in water quality, and failures in sensors and/or actuators; - consumer-demand prediction, based on smart metering techniques, producing detailed analyses and forecasts of consumption patterns,providing a customer communications service, and suggesting economic measures intended to promote more efficient use of water at the household level. Researchers and engineers working with drinking-water networks will find this a vital support in overcoming the problems associated with increased population, environmental sensitivities and regulation, aging infrastructures, energy requirements, and limited water sources.Peer ReviewedPostprint (author's final draft

Decentralized control for urban drainage systems via population dynamics : Bogota case study

Control of Urban Drainage Systems (UDS) is studied for cases in which the distribution of run–off through the channels of a system is inefficient, i.e. when the capacity of some structures is not used optimally. In this paper, a decentralized population-dynamics-based control for UDS is presented, particularly using the replicator and projection dynamics. For the design, a methodology to make a partitioning of the system is introduced, and the design of a population–dynamics–based control per each partition is proposed. Moreover, a stability analysis of the closed–loop system is made by using passivity theory. Finally, simulation results show the proposed approach performance in a segment of the Bogota stormwater UDS case study.Peer ReviewedPostprint (author's final draft

Co-simulation for the design of controllers in urban drainage systems

© 2015 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.A co-simulation framework that uses two software tools (i.e., Matlab, Python or LabVIEW, and SWMM) is presented. The co-simulation is performed thanks to a tool that has been developed, and which is the main contribution of this work. This approach uses the storm water management model (SWMM), becoming a solution to the lack of tools to test controllers for urban drainage systems (UDS). Specifically, MatSWMM, an open source framework that can be used to this end, is presented. Additionally, in order to illustrate the features of the co-simulation methodology, some of the issues of using control-oriented models (COM) are pointed out and simulated with MatSWMM, through a simple case study. To this end, and as an illustrative example of the controllers that might be implemented with the proposed tool, a linear model of the system is built and a decentralized population dynamics-based controller is tested. The results obtained show the advantages of the co-simulation tool to evaluate the control performance of these systems.Peer ReviewedPostprint (author's final draft

On the design and control of compartmental networks for optimal evacuation and supply

An optimization problem that minimizes the stable scaled consensus state for linear compartmental systems is proposed. The minimum scaled consensus state (MSCS) methodology is used to solve the optimal evacuation and supply problems under operational constraints. The problem can be solved off-line under static disturbances, and on-line for time-varying disturbances. It is shown for the static case that the MSCS problem is equivalent to the digraph balancing problem. When the proposed optimization problem is solved on-line, the resultant MSCS controller is of feedforward nature and a solution can be found efficiently for large-scale systems, since the optimization problem underlying the MSCS control is linear for the optimal evacuation problem, and convex for the optimal supply problem. Moreover, a mixed-integer programming problem is proposed to determine the minimum number of actuators required to achieve the MSCS when there are budget constraints to upgrade an existing compartmental network. Several case studies in the context of water drainage and water distribution systems are presented to show the effectiveness of the proposed methodologies.Se propone un problema de optimización que minimiza el estado estable de consenso escalado para sistemas compartimentales lineales. La metodología del mínimo estado de consenso escalado (MSCS) se utiliza para resolver los problemas de evacuación y suministro óptimos bajo restricciones operacionales. El problema puede resolverse off-line bajo perturbaciones estáticas y on-line para perturbaciones variables en el tiempo. Se muestra para el caso estático que el problema MSCS es equivalente al problema de balance de un grafo dirigido asociado a la red compartimental. Cuando el problema de optimización propuesto se resuelve on-line, el controlador MSCS resultante es tipo feed-forward y se puede encontrar una solución eficiente para sistemas a gran escala, ya que el problema de optimización subyacente al control MSCS es lineal para el problema de evacuación óptimo y convexo para el problema de suministro óptimo. Además, se propone un problema de programación entera mixta para determinar el número mínimo de actuadores necesarios para alcanzar el MSCS cuando existen restricciones presupuestales para actualizar una red compartimental existente. Se presentan varios casos de estudio en el contexto de sistemas de drenaje de agua y distribución de agua para mostrar la efectividad de las metodologías propuestas.Magíster en Ingeniería EléctricaMaestrí

Data-driven evolutionary-game-based control for drinking-water networks

The final publication is available at link.springer.comThis book presents a set of approaches for the real-time monitoring and control of drinking-water networks based on advanced information and communication technologies. It shows the reader how to achieve significant improvements in efficiency in terms of water use, energy consumption, water loss minimization, and water quality guarantees. The methods and approaches presented are illustrated and have been applied using real-life pilot demonstrations based on the drinking-water network in Barcelona, Spain. The proposed approaches and tools cover: - decision-making support for real-time optimal control of water transport networks, explaining how stochastic model predictive control algorithms that take explicit account of uncertainties associated with energy prices and real demand allow the main flow andpressure actuators—pumping stations and pressure regulation valves—and intermediate storage tanks to be operated to meet demand using the most sustainable types of source and with minimum electricity costs; - decision-making support for monitoring water balance and distribution network quality in real time, implementing fault detection anddiagnosis techniques and using information from hundreds of flow,pressure, and water-quality sensors together with hydraulic and quality-parameter-evolution models to detect and locate leaks in the network, possible breaches in water quality, and failures in sensors and/or actuators; - consumer-demand prediction, based on smart metering techniques, producing detailed analyses and forecasts of consumption patterns,providing a customer communications service, and suggesting economic measures intended to promote more efficient use of water at the household level. Researchers and engineers working with drinking-water networks will find this a vital support in overcoming the problems associated with increased population, environmental sensitivities and regulation, aging infrastructures, energy requirements, and limited water sources.Peer Reviewe

Data-driven evolutionary-game-based control for drinking-water networks

The final publication is available at link.springer.comThis book presents a set of approaches for the real-time monitoring and control of drinking-water networks based on advanced information and communication technologies. It shows the reader how to achieve significant improvements in efficiency in terms of water use, energy consumption, water loss minimization, and water quality guarantees. The methods and approaches presented are illustrated and have been applied using real-life pilot demonstrations based on the drinking-water network in Barcelona, Spain. The proposed approaches and tools cover: - decision-making support for real-time optimal control of water transport networks, explaining how stochastic model predictive control algorithms that take explicit account of uncertainties associated with energy prices and real demand allow the main flow andpressure actuators—pumping stations and pressure regulation valves—and intermediate storage tanks to be operated to meet demand using the most sustainable types of source and with minimum electricity costs; - decision-making support for monitoring water balance and distribution network quality in real time, implementing fault detection anddiagnosis techniques and using information from hundreds of flow,pressure, and water-quality sensors together with hydraulic and quality-parameter-evolution models to detect and locate leaks in the network, possible breaches in water quality, and failures in sensors and/or actuators; - consumer-demand prediction, based on smart metering techniques, producing detailed analyses and forecasts of consumption patterns,providing a customer communications service, and suggesting economic measures intended to promote more efficient use of water at the household level. Researchers and engineers working with drinking-water networks will find this a vital support in overcoming the problems associated with increased population, environmental sensitivities and regulation, aging infrastructures, energy requirements, and limited water sources.Peer Reviewe

Decentralized control for urban drainage systems via population dynamics : Bogota case study

Control of Urban Drainage Systems (UDS) is studied for cases in which the distribution of run–off through the channels of a system is inefficient, i.e. when the capacity of some structures is not used optimally. In this paper, a decentralized population-dynamics-based control for UDS is presented, particularly using the replicator and projection dynamics. For the design, a methodology to make a partitioning of the system is introduced, and the design of a population–dynamics–based control per each partition is proposed. Moreover, a stability analysis of the closed–loop system is made by using passivity theory. Finally, simulation results show the proposed approach performance in a segment of the Bogota stormwater UDS case study.Peer Reviewe

Co-simulation for the design of controllers in urban drainage systems

© 2015 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.A co-simulation framework that uses two software tools (i.e., Matlab, Python or LabVIEW, and SWMM) is presented. The co-simulation is performed thanks to a tool that has been developed, and which is the main contribution of this work. This approach uses the storm water management model (SWMM), becoming a solution to the lack of tools to test controllers for urban drainage systems (UDS). Specifically, MatSWMM, an open source framework that can be used to this end, is presented. Additionally, in order to illustrate the features of the co-simulation methodology, some of the issues of using control-oriented models (COM) are pointed out and simulated with MatSWMM, through a simple case study. To this end, and as an illustrative example of the controllers that might be implemented with the proposed tool, a linear model of the system is built and a decentralized population dynamics-based controller is tested. The results obtained show the advantages of the co-simulation tool to evaluate the control performance of these systems.Peer Reviewe

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 Reviewe