On the modelling of a hydropower plants and the model-based control

The paper deals with hydraulic plant modelling starting from the basic principles with two control objectives: the quenching of the waterhammer and the control of hydraulic turbine. The second problem is studied from a theoretical point of view by proposing a lumped parameter model, constructing the feedback control by means of a Lyapunov functional and ultimately pointing to the integration of the constraints in the design by means of a model-based predictive controller (MPC).