Volume 101, Issue 1     January 2009    ISSN 1551-8833

A water distribution system consists of numerous appurtenances that are interconnected, creating a network comprising nodes and branches. Basic process variables are used to describe the behavior of these elements and nodes, and control of these process variables is important for proper operation of a distribution system. The authors describe an alternative controller that combines the nonlinear control technique known as dynamic inversion (DI) with proportional integral derivative (PID) features to cope with existing control problems. Proportional derivative (PD) and PID controllers are presented and compared with DI-based robust nonlinear controllers. In this study, emphasis is given to determining how quickly a water distribution system can be controlled in order to reach different targets within a short time and without creating undue transients. In this regard, control algorithms play an important role in real-time control of a water distribution system. Thus, development of controllers for pumping and valve operations can significantly improve any water distribution system with respect to reducing leakage, maintaining pressure, and controlling flow in the entire network.—MKK