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We employ a deterministic approach to study a multi-reach water quality system subject to uncertain but bounded disturbances at both the input and output levels as well as to uncertain parameter variations. Decentralized controls in the form of rate variation of B.O.D. concentration from an "optimal" steady state value in the effluent and in-stream aeration rate are used to drive the river...
We present in this paper a novel nonlinear model predictive control scheme that guarantees closed-loop stability. The scheme can be applied to both stable and unstable systems with input constraints. The objective functional to be minimized consists of an integral square error (ISE) part over a finite time horizon plus a quadratic terminal cost. The terminal state penalty matrix of the terminal cost...
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