Abstract
Proportional derivative (PD) and proportional integral derivative (PID) controllers are discussed in terms of use in water distribution networks and compared with a dynamic inversion (DI)‐ based robust nonlinear controller. Controller performance is evaluated for sequential supply to multiple reservoirs for level control and for flow control of two water distribution networks to address the issues of equitable distribution among the reservoirs. This study illustrates the novel application of control algorithms and shows that slow transients can be controlled. The DI‐based nonlinear controller outperformed other controllers. Targets such as reservoir levels and flows into a reservoir were achieved in a monotonic fashion using a PID controller. However, the targets were achieved quickly without creating undue transients with the use of a DI controller. Unlike PID and DI controllers, severe oscillations were observed with the PD controller, and the target values were not reached. In general, nonlinear control systems can be quite useful in water distribution networks.