Design of PI controllers for irrigation canals based on linear matrix inequalities

Teresa Arauz, José M. Maestre, Xin Tian*, Guanghua Guan

*Corresponding author for this work

Research output: Contribution to journalArticleScientificpeer-review

12 Citations (Scopus)
41 Downloads (Pure)


A new Proportional-Integral (PI) tuning method based on Linear Matrix Inequalities (LMIs) is presented. In particular, an LMI-based optimal control problem is solved to obtain a sparse feedback that provides the PI tuning. The ASCE Test Canal 1 is used as a case study. Using a linearised model of the canal, different tunings for the design of the PI controller are developed and tested using the software Sobek. Furthermore, the proposed method is also compared with other tunings proposed for the same canal available in the literature. Our results show that the proposed method reduces by half the maximum errors with respect to other assessed alternatives and minimizes undesired mutual interactions between canal pools. Also, our method improves the optimality degree of the PI tuning by 30%. Therefore, it is concluded that the LMI based PI controllers lead to satisfactory performance in regulating water levels and canal flows/structure outflows, outperforming other tested alternatives, thus becoming a useful tool for irrigation canal control.

Original languageEnglish
Article number855
Number of pages17
JournalWater (Switzerland)
Issue number3
Publication statusPublished - 2020


  • Controller constraints and structure
  • Decentralized control
  • Irrigation canals
  • Multivariable systems
  • PI design


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