Irrigation or drainage canals can be controlled by model predictive control (MPC). Applying MPC with an internal model in the presence of unknown disturbances in some cases can lead to steady state offset. Therefore an additional component should be implemented along with the MPC. A new method eliminating the offset has been developed in this paper for MPC. It is based on combining two basic approaches of MPC. It has been implemented to control water levels in the three-pool UPC laboratory canal and further numerically tested using a test case benchmark proposed by the American Society of Civil Engineers (ASCE). It has been found that the developed offset-free method is able to eliminate the steady-state offset, while taking into account known and unknown disturbances.

Peer Reviewed