OPTIMAL NONLINEAR PREDICTIVE CONTROL FOR CANAL OPERATIONS

The predictive canal operation method (PCOM) provides optimal real-tim e control of irrigation canals with incorporation of current and forec asted demands. PCOM utilizes an efficient, nonlinear, optimal control algorithm interacting with a fully dynamic, unsteady-how hydraulic mod el. Optimal predictive controls are determined for all check structure s and demand points along the canal, as well as the intake pump statio n, if one is present. Optimal control is performed with consideration of hydraulic conditions along the entire canal, as modeled by a Preiss man-type implicit scheme for the complete St. Venant equations. The al gorithm generates predictive control policies (anticipatory control) a nd system-wide feedback control under complex hydraulic conditions, in cluding zero flow and closed gates. Equable distribution of shortages is achieved in cases of water supply deficiencies. PCOM is applied to Main Canal 3 of the Formoso H project, Bahia, Brazil, as a case study, and performs well under severe operational constraints. The computati onal efficiency of the algorithm allows implementation on microcompute r controllers for real-time use.