Abstract

The paper firstly presents the model of an irrigation canal, obtained by linearizing Saint-Venant equations around a steady state. Classical control politics for an irrigation canal are then interpreted using automatic control tools. The time-delay from upstream discharge to downstream water level induces a limitation in the real-time performance of the controlled system for the so-called distant downstream control, that is not present in the local upstream control. A mixed controller combining distant downstream and local upstream control is proposed. The problem is casted into the H <inf xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">∞</inf> optimization framework, and experimentally tested on an experimental canal located in Portugal.

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