Application of Kalman filter based nonlinear MPC for flood gate control of hydropower plant

This paper addresses the issue of regulating the water level of a reservoir in a hydropower plant with nonlinear predictive control (NMPC). Besides, according to pre-specified water level variant limits, an error tolerance NMPC (ET-NMPC) was extended from a regular NMPC. A nonlinear mathematical model was developed for dynamics of water reservoir level. A theoretical hydrology model was included to calculate inflow of reservoir. Extended Kalman filter (EKF) was applied to estimate the inflow depends on various weather conditions and help to predict future water level. Closed loop simulations with ET-NMPC were demonstrated.