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We compare the performance indicators obtained with GoRoSoBo in the test cases with the same indicators obtained with other control algorithms like CLIS (Liu et al. 1998) and PILOTE (Malaterre 1995) (see Tables 14 and 15). CLIS is based on an inverse solution method of the Saint-Venant equations, and it is designed for the automation of demand-oriented systems. PILOTE is a LQR closed-loop controller and it is obtained from the steady-state solution of the Riccati equation, a Kalman filter is used to reconstruct the state variables and the unknown perturbations from a reduced number of observed variables.

Table 14

The performance indicators obtained in test case 1-2 (Maricopa Stanfield)

Test case 1-2 tuned unscheduled
MAE (%)IAE (%)StE (%)IAQ (m3/s)
12–24 h
12–24 h
12–24 h
12–24 h
MaxAverageMaxAverageMaxAverageMaxAverage
CLIS 34.5 14.2 5.0 2.0 3.6 1.1 0.2 0.1 
PILOTE 43.0 24.9 9.2 5.2 11.2 2.9 2.9 1.4 
GoRoSoBo 33.5 10.3 5.0 1.2 2.1 0.7 6.7 3.6 
Test case 1-2 tuned unscheduled
MAE (%)IAE (%)StE (%)IAQ (m3/s)
12–24 h
12–24 h
12–24 h
12–24 h
MaxAverageMaxAverageMaxAverageMaxAverage
CLIS 34.5 14.2 5.0 2.0 3.6 1.1 0.2 0.1 
PILOTE 43.0 24.9 9.2 5.2 11.2 2.9 2.9 1.4 
GoRoSoBo 33.5 10.3 5.0 1.2 2.1 0.7 6.7 3.6 
Table 15

The performance indicators obtained in test case 2-2 (Corning canal)

 Test case 2-2 tuned unscheduled
MAE (%)IAE (%)StE (%)IAQ (m3/s)
12–24 h
12–24 h
12–24 h
12–24 h
MaxAverageMaxAverageMaxAverageMaxAverage
CLIS 21.1 14.9 7.6 2.8 0.7 0.4 9.7 5.5 
PILOTE 34.2 17.1 10.6 7.1 8.8 4.3 10.4 6.1 
GoRoSoBo 13.6 7.8 6.3 2.1 0.8 0.5 15.2 11.7 
 Test case 2-2 tuned unscheduled
MAE (%)IAE (%)StE (%)IAQ (m3/s)
12–24 h
12–24 h
12–24 h
12–24 h
MaxAverageMaxAverageMaxAverageMaxAverage
CLIS 21.1 14.9 7.6 2.8 0.7 0.4 9.7 5.5 
PILOTE 34.2 17.1 10.6 7.1 8.8 4.3 10.4 6.1 
GoRoSoBo 13.6 7.8 6.3 2.1 0.8 0.5 15.2 11.7 

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