Comprehensive mathematical model for efficient and robust control of irrigation canals

Linear control-oriented models are important to represent canal dynamics for designing controllers. This study focuses on hydraulic control structure (gate) modelling to address the complex interdependent behavior inherent in irrigation canals. A comprehensive mathematical model that incorporates the water level with gate-opening to model discharge is introduced for single and multiple canal pool scenarios. The proposed model captures the hydraulic coupling within and among canal pools, a key finding. The model is evaluated extensively under uniform and non-uniform flows across three distinct canals, highlighting the model's applicability to various systems. The uncertainty inherent within the nominal model is also assessed for varying operating conditions and hydraulic parameters. The proposed model is compared with the existing and the Saint-Venant (SV) model, showing improved accuracy in water-level predictions. This advancement in hydraulic modelling contributes to adaptable canal models essential in developing robust controllers to enhance water management in irrigation canals.