Abstract
Using a linear distributed model of open-channel flow, the canal operation problem was formulated as an optimal control problem, and an algorithm for the gate opening in the presence of unknown external disturbances (changes in flow rate demands) was derived by solving the algebraic Riccati equation. An observer was designed to estimate the values for depth of flow and flow rates at the intermediate nodes based upon measured values of depth at the upstream and downstream ends of a pool. Considering an example, the changes in depths and gate opening obtained from the linearized model were compared with the results obtained from the nonlinear hydrodynamic equations. For an external disturbance of 20% of the initial flow rate in the pool, the difference between the two models in predicting the variation in the upstream and downstream water surface elevations and the change in the upstream gate opening was insignificant.
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