Nonlinear robust state feedback control of an open-channel hydraulic system

A nonlinear robust state feedback controller is presented for the minimization of water level deviation in presence of disturbances in a one-reach open channel controlled by an underflow gate at the upstream end. To apply nonlinear robust control to this distributed parameter system, the original nonlinear partial differential equations (the Saint-Venant equations) were adopted without using neither linearization nor discretization. We have defined an infinite-dimensional Hamilton-Jacobi equation and modified an algorithm proposed for solving open loop constrained minimax problem to the infinite-dimensional case. Finally, a receding horizon control is proposed to derive a state feedback control law.