MIMO Smith Predictor based LPV control of a multiple pool canal system

The purpose of this paper is to present a MIMO Smith Predictor (SP) based on gain-scheduling controller for multiple pool canal systems. The MIMO Smith Predictor structure takes into account the variations of the parameters and delays with the operating point by using a linear parameter varying (LPV) model of the multiple pool canal system. The error in the estimation of the delays is bounded by unstructured uncertainty and included in the augmented plant. The MIMO controller has an LPV structure and is scheduled by the gate opening. This is applied to a two-pool canal system is used to assess the validity of the proposed approach.