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Mathematical Problems in Engineering
Volume 2012, Article ID 948936, 16 pages
Research Article

MIMO LPV State-Space Identification of Open-Flow Irrigation Canal Systems

1Automatic Control Department, Technical University of Catalonia, 08028 Barcelona, Spain
2Embedded Systems and Automatic Group, Engineering School of ESEO, 49009 Angers, France

Received 22 June 2012; Accepted 2 October 2012

Academic Editor: Jun Hu

Copyright © 2012 Yolanda Bolea et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


Canal systems are complex nonlinear, distributed parameter systems with changing parameters according to the operating point. In this paper, a linear parameter-varying (LPV) state-space canal control model is obtained by identification in a local way using a multimodel approach. This LPV identification procedure is based on subspace methods for different operating points of an irrigation canal covering the full operation range. Different subspace algorithms have been used and compared. The model that best represents the canal behavior in a precise manner has been chosen, and it has been validated by error functions and analysis correlation of residuals in a laboratory multireach pilot canal providing satisfactory results.