Multilayer control of freeway traffic

A multilayer control scheme is applied to the freeway traffic control problem. A simplified optimization problem for the overall freeway system is solved on-line in the optimization layer. Optimization results are used as reference trajectories for the infemal decentralized direct control layer. Prediction of slow disturbances and particular model parameters are provided by a suppremal adaptation layer. The overall control structure is shown to be robust even in the case of strong unexpected disturbances like incidents.