1. Institut de Robòtica i Informàtica Industrial (CSIC-UPC), Llorens i Artigas, 4-6, 08028, Barcelona, Spain E-mail: cocampo@iri.upc.edu; gcembrano@iri.upc.edu
2. Automatic Control Department, Technical University of Catalonia, Rambla Sant Nebridi, 10, 08222, Terrassa, Spain E-mail: vicenc.puig@upc.edu
3. CETaqua (Water Technology Centre), Passeig dels Tillers 3, 08034, Barcelona, Spain
4. Grupo AGBAR (Aguas de Barcelona, S.A.), Control Centre, C/. General Batet, 1-7, 08028, Barcelona, Spain E-mail: rcreusro@agbar.es; mminoves@agbar.es