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Model Predictive Control of Skeboå Water system
KTH, School of Electrical Engineering (EES), Automatic Control.
2012 (English)Independent thesis Advanced level (professional degree), 20 credits / 30 HE creditsStudent thesis
Abstract [en]

This thesis is a study of model predictive control of water levels and flows in a water

system. The water system studied includes five lakes and six dams that are regulated

manually by sluice-gates. The water is used in the papermaking process at Holmen

Paper Mill in Hallstavik. The aim of this thesis is to find out how to control the

water system when all dams are automated and to minimize the discharge of water

from the system without risking production stops due to water shortage. To fulfil

the aim, a simulation is made during a dry period with low amount of rain. The

simulation is then compared to the same period but when the system was manually


In this thesis two models of the water system are constructed, a simple linear model

and a more complex non-linear model. In the linear model the channels between

the lakes are assumed to be delays of water flow. In the non-linear model the same

channels are described by Saint Venant equations of changes of flow and Manning’s

equation on how water flow and the cross-section of a channel are related. In both

models, the lakes are modelled as the change in volume with respect to time due to

inflow to and outflow from the lake.

The non-linear model is verified against measured water levels, flows, sluice-gate

heights and precipitation to ensure that the model describes the water system well


The linear model is used in the model predictive controller to calculate the optimal

outflow from the dams. The optimal outflows are then converted into optimum gate

heights in the dams, which in turn are used as input to the non-linear model. The

non-linear model is used to simulate the water system.

The results from the simulation show that the control of the water system can

significantly be improved. The conclusion of this thesis is that a lot more water can

be saved when the system is automated and that the water levels in the lakes can

be kept more stable with respect to a set reference level. The recommendation if

only one dam is to be controlled initially is to start with the dam at Närdingen.

Place, publisher, year, edition, pages
2012. , 98 p.
EES Examensarbete / Master Thesis, XR-EE-RT 2012:001
National Category
Electrical Engineering, Electronic Engineering, Information Engineering
URN: urn:nbn:se:kth:diva-98868OAI: diva2:539675
Educational program
Master of Science in Engineering - Electrical Engineering
Available from: 2012-07-05 Created: 2012-07-04 Last updated: 2012-07-05Bibliographically approved

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