Abstract
In this paper, fault tolerant hybrid model predictive control (HMPC) for sewer networks is introduced. A hybrid model of the sewer system is presented which allows capturing inherent phenomena such as tank and collector overflows that are not always present but depend on the system state. Constraints due to actuator faults can be expressed in the same modelling framework. The model is used for predictive control to reduce combined sewer overflows (CSO) and pollution even in the presence of actuator faults. A simulation study is presented where fault tolerant control strategies are compared and analyzed for real rain scenarios.
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