Nonlinear observer design for water level control in irrigation canals

The paper is devoted to nonlinear observer and control design for irrigation canals or dam-river systems. Such systems are known to be described by non-linear partial differential equations (Saint-Venant equations). Here, a finite-dimensional model, previously developed by collocation methods and used for control design, is now further used for flow rate and water infiltration observation. In particular, it is pointed out how the obtained estimates can successfully be used in the previously designed state feedback controller, resulting in a water level control law only using three level measurements along the canal. The results are illustrated in simulation, both on the considered simplified model and on more realistic representations of water flow dynamics.