Abstract Real time pressure control is a common technique adopted to face the problem of leakage reduction in water distribution networks. Recently, in the context of Water 4.0, the spread of wired water distribution networks has opened new possibilities in terms of sensing and communication, resulting in the possibility of adopting higher sampling rates and consequently higher closed-loop bandwidths for the control system. While this could be exploited to improve the performance, it has also drawn the attention of the fundamental question of closed-loop stability, which was seldom considered in a systematic way, especially in the hydraulic community. This works aims to combine some recent results in term of design of frequency domain controllers with a gain scheduling approach, to account and compensate for the main nonlinearities affecting the system under control, and to preserve stability and robustness of the closed-loop in a wide operating region. The approach is validated by means of simulated experiments performed on a detailed dynamic model of the water distribution network. In addition, the gain scheduling approach can improve the overall performance of the control scheme and allows avoiding heavy retuning of the regulator when applied to the nonlinear system.

中文翻译：

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一种改善配水管网压力控制的增益调度方法

摘要 实时压力控制是解决配水管网泄漏问题的常用技术。最近，在水 4.0 的背景下，有线配水网络的普及在传感和通信方面开辟了新的可能性，导致可以采用更高的采样率，从而为控制系统采用更高的闭环带宽。虽然这可以用来提高性能，但它也引起了闭环稳定性的基本问题的注意，很少以系统的方式考虑这个问题，特别是在液压界。这项工作旨在将频域控制器设计方面的一些最新成果与增益调度方法相结合，考虑和补偿影响受控系统的主要非线性，并在较宽的工作区域内保持闭环的稳定性和鲁棒性。该方法通过在配水网络的详细动态模型上进行的模拟实验得到验证。此外，增益调度方法可以提高控制方案的整体性能，并且在应用于非线性系统时可以避免调节器的大量重新调谐。