Application to a large-scale drinking water network of robust MPC for tracking periodic references

In this seminar a novel robust model predictive control for tracking periodic signals formulation based on nominal predictions and constraint tightening is presented. The controller joins optimal periodic trajectory planning and a robust control for tracking in a single optimization problem and guarantees that the perturbed closed-loop system converges asymptotically to an optimal reachable periodic trajectory while satisfying the state and input constraints for all possible uncertainties. In addition, the closed-loop system maintains recursive feasibility even in the presence of sudden changes in the target reference. The properties of the proposed controller will be demonstrated with a simulation example of a section of the Barcelona drinking water network.