Decentralized control for urban drainage systems via moving horizon observer

A decentralized control for urban drainage systems (UDS) is addressed considering communication constraints such as information losses and communication complexity. In order to minimize the effects caused by limited communications and to ensure real-time operation, the moving horizon approach is used. Decentralized architectural is addressed and an extension to switching network topologies is proposed. Finally, the methodology is illustrated by simulations through a case study in urban drainage systems.