Fault-tolerant model predictive control within the hybrid systems framework: Application to sewer networks

In this paper, model predictive control (MPC) problem with fault-tolerance capabilities is formulated within the hybrid systems framework. In particular, the mixed logical dynamic form to represent hybrid systems is considered. Using this approach, a hybrid model of the system to be controlled is obtained, which includes inherent hybrid phenomena and possible modes caused by faults occurrence. This allows to adapt the system model on-line by taking into account the fault information provided by a fault diagnosis and isolation module. In this way, the controller can cope with the considered faults. Additionally, different implementation schemes and fault-tolerance evaluation procedures for hybrid MPC (HMPC) considering fault-tolerance capabilities are proposed and discussed. Finally and in order to exemplify the implementation of the proposed approach, it is applied to include actuator fault tolerance in the design of a HMPC controller for a portion of the sewer network of Barcelona. q