Reconfigurable distributed control of water delivery canals

This work addresses reconfigurable distributed LQG control of multipurpose open water channels, used both for water delivery and transportation. The use of a local control agent structure of the so called local upstream control type ensures that the water level is kept close to a desired level, even in the presence of disturbances caused by water turnout at side offtakes, so as to ensure navigability. Both actuator and sensor faults are addressed. The paper shows how, in the presence of a fault, the controller/sensor network might be reconfigured in order to mitigate its effects. Experimental results in a large scale pilot canal are included to demonstrate the control concepts proposed.