Decentralized ellipsoidal state estimation for linear model predictive control of an irrigation canal

A centralized linear MPC is used to stabilize an irrigation system whose operation is represented by an integrator-delay model. Since not all the state variables can be measured, a decentralized ellipsoidal estimation strategy is proposed. This approach keeps the quality of a centralized estimation and reduces significantly the computation time for the systems considered. An adaptation of Test Canal 1, developed by the ASCE Task Committee on Canal Automation Algorithms, is used as a case study to show the performance of the proposed methodology.