Predictive control with constraints of a multi-pool irrigation canal prototype

this paper presents a real-time implementation of a multivariable predictive controller with constraints to regulate the downstream levels at the end of the pools in a four-pool open irrigation canal prototype. the objective of the controller is to maintain the downstream level at a constant target value despite inflow disturbances. the controller is designed using a "black box" identified linear model. the results show satisfactory closed-loop performances.