Tube-based robust MPC for pump scheduling in water distribution systems

This paper proposes a (tube based) robust MPC approach for the class of “well-designed” water distribution systems subject to water demand uncertainties. The underlying mathematical problem is formulated within a robust decision making framework where the operational decision (which is obtained using feedback) is cost efficient and feasible under a range of water demand realizations. An application to the efficient pump scheduling of the water distribution system of the city of Sopron (Hungary) is presented.