On Hybrid Model Predictive Control of Sewer Networks

Real-time control (RTC) of sewer-network systems plays an important role in meeting increasingly restrictive environmental regulations to reduce release of untreated wastewater to the environment. This chapter presents the application of hybrid model predictive control (HMPC) on sewer systems. It is known from the literature that HMPC has a computational complexity growing exponentially with the size of the system to be controlled. However, the average solution time of modern mixed integer program (MIP) solvers is often much better than the predicted worst-case-solution time. The problem is to know when the worst-case computational complexity appears. In addition to presenting the application, a secondary aim of the chapter is to discuss the limits of applicability due to real-time constraints on computation time when HMPC is applied on large-scale systems such as sewer networks. By using a case study of a portion of the Barcelona sewer system, it is demonstrated how the computational complexity of HMPC appears for certain state and disturbance combinations.

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