Fault-tolerant Safe Control for Water Networks: An Interconnected Switched System Approach⁎⁎This paper was supported in part by funding from the European Research Council (ERC) under grant agreement No. 951424 (Water-Futures) and the European Union’s Horizon 2020 research and Innovation programme under grant agreement No. 739551 (KIOS CoE); in part by the National Natural Science Foundation of China under grant agreement No. 62303218, the China Postdoctoral Science Foundation under grant agreement No. 2022M721607, and the Jiangsu Funding Program for Excellent Postdoctoral Talent under grant agreement No. 2023ZB573.

This paper investigates the fault-tolerant safe control problem in water network systems in the presence of process and actuator faults. Firstly, based on the established watersafe benchmark, the studied water network is modeled as an interconnected switched system, and a fault-tolerant regulation problem is proposed while ensuring the states of the system remain within safe regions. Secondly, based on the stability theories for interconnected and switched systems, considering the worst cases of leakage and pump faults, a proper state-dependent safety-guaranteed switching law and distributed control policies are designed. Thirdly, the stability and safety of the proposed approach are proved in theory. Finally, simulations are conducted to validate the effectiveness of the proposed approach on a benchmark water transport system.