Flexible Discrete Time State Space Model for Canal Pools

Part of the Lecture Notes in Electrical Engineering book series (LNEE, volume 174)


Water is a vital resource for mankind used in activities such as agriculture, industry and domestic activity. Irrigation is one of the most consuming water resources in human activity. Irrigation canals are characterized for being spatially distributed crossing different administrative regions. As water is becoming a scarce and valuable resource, efficient engineering water conveyance networks are required. In this paper a discrete state space for modeling open-channels is presented. The well known Saint-Venant equations are first linearized for a steady state and then discretized using the Preissmann scheme. The resulting model is shown to be computational simple and flexible to accommodate different type of boundary conditions, in flow, water depth or hydraulic structures dynamics, which are important features for modeling complex water conveyance systems. The hydraulic model also offers monitoring ability along the canal axis and can therefore be integrated in fault diagnosis and tolerant control strategies. The model is validated with experimental data from a real canal property of the Évora University.


Modeling Partial differential equations Saint-venant equations Open-channels Water conveyance networks Time delay system 


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© Springer-Verlag Berlin Heidelberg 2013

Authors and Affiliations

  1. 1.IDMEC, Dept. of Systems and InformaticsEscola Superior de Tecnologia de SetúbalSetúbalPortugal
  2. 2.Dept. of Mechanical Engineering, CIS/IDMEC-LAETAInstituto Superior Técnico, Technical University of LisbonLisboaPortugal

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