Decentralised Hierarchical Multi-rate Control of Large-Scale Drinking Water Networks

We propose a decentralised hierarchical multi-rate control scheme for the control of large-scale systems with state and input constraints. The large-scale system is partitioned into sub-systems each one of which is locally controlled by a stabilising linear controller which does not account for the prescribed constraints. A higher-layer controller commands reference signals at a lower uniform sampling frequency so as to enforce linear constraints on the process variables. Worst-case subsystem interactions are modeled and accounted for in a robust manner. By optimally constraining the magnitude and rate of variation of the reference signals to each lower-layer controller we prove that closed-loop stability is preserved and the fulfillment of the prescribed constraints is guaranteed. We apply the proposed methodology to Johansson’s quadraple-tank system and we compare it to a centralised control approach.

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