Distributed Reconfigurable Predictive Control of a Water Delivery Canal

Abstract

This paper addresses the problem of reconfigurable distributed model predictive control (MPC) of water delivery canals. It is shown how a distributed MPC algorithm can be equipped with complementary features so as to reconfigure its structure in order to render it tolerant to actuator faults. The structure proposed includes a fault detection algorithm that triggers switching between different controllers designed to match the fault or no-fault situation. To ensure stability, a dwell-time switching logic is used. Experimental results are provided.