Robust optimal control of a dam-river system with intermediate measurements

The paper deals with the automatic control of a dam river system, where the action variable is supposed to be the upstream discharge and the controlled variable the downstream discharge. The system is a cascade of SISO systems, and can be considered as a SIMO one, as there are multiple outputs given by intermediate measurements points distributed along the river. The synthesis of a LQG/LTR controller for such a system is done using the state space representation. The robustness is estimated with the use of a bound on multiplicative uncertainty taking into account the model errors, due to the nonlinear dynamics of the system. Simulations are carried out on a nonlinear model of the river.