Port-Hamiltonian based control of water distribution networks

We design controllers for a nonlinear model of a water distribution network (WDN). Most existing approaches to the control of WDNs model the pumps as simple pressure gains. We show that a commonly used empirical model of a pump leads to a port-Hamiltonian (pH) and hence stable system. We use standard arguments to show that WDNs are incrementally pH, and show that local PI controllers preserve stability. These controllers are robust in that they …