Adaptive head control of a hydraulic open channel model

Abstract

In this paper we are concerned with the head control of a reach of an open channel. We consider a control configuration where the head sensor and actuator (gate position) are located nearby. This configuration does not seem to have been explored in the literature since the control task is made considerably difficult by the aftereffect of the water reflecting wave. To design the controller, the open channel reach is modeled by a linear retarded differential equation, where the retarded part takes into account the aftereffects. Using the theory developed in Johansson ( Automatica, 22, 555–560 (1986)) we design an adaptive controller that compensates for the latter. Simulation results of the proposed controller applied to a partial differential equation model of the channel are given in Constantinides et al. ( Int. J. Syst. Sci., 7 (1976)) and Chow ( Open-channel Hydraulics, McGraw-Hill, Maidenhead (1973)).