Simple water level controller for irrigation and drainage canals

A simple water level controller for irrigation and drainage canals is propo sed; the proposed controller has a master-slave structure where the slaves control the flow rates through the control structures. The master controlle r consists of PI-based controllers for feedback, and a decoupler and feedfo rward controller that are based on the inversion of a simple dynamic model of the canal system. The applicability of the controller is demonstrated in field experiments.