Robust fractional order controller for irrigation main canal pools with time-varying dynamical parameters

Computers and Electronics in Agriculture

Volumn 76, Issue 2, 2011, Pages 205-217

  Feliu Batlle, V ^a   Rivas Perez, R ^b   Castillo Garcia, F J ^a   Sanchez Rodriguez, L ^a   Linarez Saez, A ^c  

^a UNIVERSITY OF CASTILLA LA MANCHA   (Spain)

^b Department of Automatica and Computer Science   (Cuba)

^c BEFESA   (Spain)

Author keywords

Efficient management of hydraulic resources; Irrigation main canal pool mathematical model; Irrigation main canal pool with time varying parameters; Robust fractional order PI controller (FPI) design; Water distribution control

Indexed keywords

ABSOLUTE ERROR; CLOSED LOOP DYNAMIC; CLOSED LOOPS; CLOSED-LOOP BEHAVIOR; DYNAMICAL PARAMETERS; FRACTIONAL ORDER; FRACTIONAL-ORDER CONTROLLERS; FREQUENCY SPECIFICATIONS; HIGH FREQUENCY DYNAMICS; HYDRAULIC RESOURCES; NOISE REJECTION; OPTIMIZATION PROCEDURES; PI CONTROLLER; PID CONTROLLERS; PLANT PARAMETERS; TIME RESPONSE; TIME VARYING; WATER DISTRIBUTION CONTROL; WATER DISTRIBUTIONS; WORKING CONDITIONS;

CONTROLLERS; HYDRAULIC STRUCTURES; IRRIGATION; LAKES; MATHEMATICAL MODELS; PROPORTIONAL CONTROL SYSTEMS; SPECIFICATIONS; THREE TERM CONTROL SYSTEMS; TWO TERM CONTROL SYSTEMS; WATER SUPPLY SYSTEMS;

TIME VARYING CONTROL SYSTEMS;

CANAL; ERROR ANALYSIS; FREQUENCY ANALYSIS; IRRIGATION; MATHEMATICAL ANALYSIS; NUMERICAL MODEL; OPTIMIZATION; PARAMETERIZATION;

EID: 79955978055     PISSN: 01681699     EISSN: None     Source Type: Journal    
DOI: 10.1016/j.compag.2011.01.018     Document Type: Article

References (56)

1. Aström K.J., Hägglund T. PID Controllers: Theory, Design and Tuning 1995, Instrument Society of America, USA, Research Triangle Park, NC. Second edition.
2. Barbosa R.S., Machado J.A.T., Ferreira I.M. Controller tuning based on Bode's ideal transfer function. Nonlinear Dyn. 2004, 38(1-4):305-321.
3. Baume J.P., Malaterre P.O., Sau J. Tuning of PI controllers for an irrigation canal using optimization tools. Proceedings of the Workshop on Modernization of Irrigation Water Delivery Systems 1999, 483-500.
4. Burt C.M., Mills R., Khalsa R., Ruiz V. Improved proportional integral (PI) logic for canal automation. J. Irrig. Drainage Eng. ASCE 1998, 124(1):53-57.
5. Buyalski C.P., Ehler D.G., Falvey H.T., Rogers D.C., Serfozo E.A. Canal Systems Automation Manual v. 1 1991, U.S. Department of Interior, Denver, USA.
6. Cantoni M., Weyer E., Li Y., Ooi S.K., Mareels I., Ryan M. Control of large-scale irrigation networks. Special Issue of the Proceedings of the IEEE on the Technology of Networked Control Systems, vol. 95 (1) 2007, 75-91.
7. Castillo-Garcia F.J., Feliu-Batlle V., Rivas-Perez R., Sanchez-Rodriguez L. Design of a class of fractional controllers from frequency specifications with guaranteed time domain behaviour. Comput. Math. Appl. 2010, 59(5):1656-1666.
8. Chen Y.Q., Vinagre B.M., Podlubny I. Continued fraction expansion approaches to discretizing fractional order derivatives-an expository review. Nonlinear Dyn. 2004, 38(1-4):155-170.
9. Chen Y.Q., Moore K.L. Relay feedback tuning of robust PID controllers with iso-damping property. IEEE Trans. Syst. Man Cybern. Part B-Cybern. 2005, 35(1):23-31.
10. Chen Y.Q., Dou H., Vinagre B.M., Monje C.A. A robust tuning method for fractional order PI controllers. Proceedings of the 2nd IFAC Workshop on Fractional Differentiation and its Applications 2006.
11. Clemmens A.J. Canal automation. Resour. Mag. 2006, 13(1):7-8.
12. Clemmens A.J., Schuurmans J. Simple optimal downstream feedback canal controllers: theory. J. Irrig. Drainage Eng. ASCE 2004, 130(1):26-34.
13. Corriga G., Sanna S., Usai G. Estimation of uncertainty in an open-channel network mathematical model. Appl. Math. Modell. 1989, 13:651-657.
14. Deltour J.L., Sanfilippo F. Introduction of Smith predictor into dynamic regulation. J. Irrig. Drainage Eng. ASCE 1998, 124(1):3-30.
15. Djouambi A., Charef A., Bouktir T. Fractional order robust control and PIλDμ controllers. WSEAS Trans. Circuits Syst. 2005, 4(8):850-857.
16. Feliu-Batlle V., Rivas-Perez R., Sanchez-Rodriguez L. Fractional robust control of main irrigation canals with variable dynamic parameters. Control Eng. Pract. 2007, 15(6):673-686.
17. Feliu-Batlle V., Rivas-Perez R., Castillo-Garcia F.J. Fractional order controller robust to time delay for water distribution in an irrigation main canal pool. Comput. Electron. Agric. 2009, 69(2):185-197.
18. Feliu-Batlle V., Rivas-Perez R., Castillo-Garcia F.J., Sanchez-Rodriguez L. Smith predictor based robust fractional order control. Application to water distribution in a main irrigation canal pool. J. Process Control 2009, 19(3):506-519.
19. Feliu-Batlle V., Rivas-Perez R., Sanchez-Rodriguez L., Ruiz-Torrija M.A. Robust fractional order PI controller implemented on a laboratory hydraulic canal. J. Hydraul. Eng. ASCE 2009, 135(4):271-282.
20. Kacerek T.F., Clemmens A.J., Sanfilippo F. Test cases for canal control algorithms with example. Proceedings of the International Water Resources Engineering Conference 1995, 184-188.
21. Kovalenko P.I. Automation of Land Reclamation Systems 1983, Kolos, Moscow.
22. Leu J.F., Tsay S.Y., Hwang C. Design of optimal fractional-order PID controllers. J. Chin. Inst. Chem. Eng. 2002, 33(2):193-202.
23. Litrico X., Fromion V., Baume J.P., Rijo M. Modelling and control of an irrigation canal. Proceedings of the European Control Conference 2003.
24. Litrico X., Fromion V. Tuning of robust distant downstream PI controllers for an irrigation canal pool: (I) theory. J. Irrig. Drainage Eng. ASCE 2006, 132(4):359-368.
25. Litrico X., Fromion V., Baume J.P. Tuning of robust distant downstream PI controllers for an irrigation canal pool: (II) implementation issues. J. Irrig. Drainage Eng. ASCE 2006, 132(4):369-379.
26. Litrico X., Malaterre P.O., Baume J.P., Vion P.Y., Ribot-Bruno J. Automatic tuning of PI controllers for an irrigation canal pool. J. Irrig. Drainage Eng. ASCE 2007, 133(1):27-37.
27. Litrico X., Fromion V. Modeling and Control of Hydrosystems 2009, Springer, London, UK.
28. Luo Y., Chen Y.Q. Fractional order [proportional derivative] controller for a class of fractional order systems. Automatica 2009, 45(10):2446-2450.
29. Machado J.A.T. Analysis and design of fractional-order digital control systems. J. Syst. Anal. Model. Simul. 1997, 27:107-122.
30. Malaterre P.O., Rogers D.C., Schuurmans J. Classification of canal control algorithms. J. Irrig. Drainage Eng. 1998, 124(1):3-10.
31. Malaterre P.O., Baume J.P. Optimum choice of control action variables and linked algorithms. Comparison of different alternatives. Workshop on Modernization of Irrigation Water Delivery Systems 1999, 387-406.
32. Monje C.A., Vinagre B.M., Chen Y.Q., Feliu V. On fractional PIλ controllers: some tuning rules for robustness to plant uncertainties. Nonlinear Dyn. 2004, 38(1-4):369-381.
33. Monje C.A., Chen Y.Q., Vinagre B.M., Xue D.Y., Feliu V. Fractional-order Systems and Controls 2010, Fundamentals and Applications, Springer, London, UK.
34. Montazar A., van Overloop P.J., Brouwer R. Centralized controller for the Narmada main canal. J. Irrig. Drainage Eng. 2005, 54:79-89.
35. O'Dwyer A. Handbook of PI and PID Controller Tuning Rules 2003, Imperial College Press, London, UK.
36. Oldham K.B., Spanier J. The Fractional Calculus 1974, Academic Press, NY, USA.
37. Ooi S.K., Weyer E. Control design for an irrigation channel from physical data. Control Eng. Pract. 2008, 16:1132-1150.
38. Oustaloup A.A., Cois O., Lanusse P., Melchior P., Moreau X., Sabatier J. The CRONE approach: theoretical developments and major applications. Proceedings of the Second Workshop of the International Federation of Automatic Control on Fractional Differentiation and its Applications 2006.
39. Petras I. Control of fractional order Chua's system. J. Electr. Eng. 2002, 53(7-8):219-222.
40. Petras I., Grega S., Dorcak L. Digital fractional order controllers realized by PIC microprocessor: experimental results. Proceedings of the International Carpathian Control Conference 2003.
41. Podlubny I. Fractional Differential Equations 1999, Academic Press, San Diego, USA.
42. Podlubny I. Fractional-order systems and PIλDμ controllers. IEEE Trans. Autom. Control 1999, 44(1):208-214.
43. Rivas-Perez R., Beauchamp-Baez G., Rodriguez D., Perez Pereira S. Computer control of water distribution in irrigation systems. Tropical Hydrology and Caribbean Water Resources Proceedings, Book Series: American Water Resources Association Technical Publication Series, vol. 98 (2) 1998, 149-154.
44. Rivas-Perez R., Prada Moraga C., Peran-Gonzalez J.R., Kovalenko P.I. Robust adaptive predictive control of water distribution in irrigation canals. Proceedings of the 15th IFAC World Congress 2002.
45. Rivas-Perez R., Peran-Gonzalez J.R., Pineda-Reyes B., Perez-Pereira S. Distributed control under centralized intelligent supervision in the Güira de Melena Irrigation System. Ing. Hidraul. Mex. 2003, 18(2):53-68.
46. Rivas-Perez R., Feliu-Batlle V., Sanchez-Rodriguez L. Robust system identification of an irrigation main canal. Adv. Water Resour. 2007, 30(8):1785-1796.
47. Rivas-Perez R., Feliu-Batlle V., Sanchez-Rodriguez L., Pedregal-Tercero D.J., Linarez-Saez A., Aguilar-Mariñosa J.V., Langarita-Garcia P. Identification of the first pool of the Imperial de Aragón main irrigation canal. Ing. Hidraul. Mex. 2008, 23(1):71-87.
48. Rivas-Perez R., Feliu Batlle V., Castillo Garcia F., Linarez Saez A. System identification for control of a main irrigation canal pool. Proceedings of the 17th IFAC World Congress 2008.
49. Rogers D.C., Goussard J. Canal control algorithms currently in use. J. Irrig. Drainage Eng. ASCE 1998, 124(1):11-15.
50. Schuurmans, J., 1997. Control of water levels in open channels. PhD Thesis, Delft University of Technology, Delft, The Netherlands.
51. Schuurmans J., Hof A., Dijkstra S., Bosgra O.H., Brouwer R. Simple water level controller for irrigation and drainage canals. J. Irrig. Drainage Eng. ASCE 1999, 125(4):189-195.
52. Vinagre B.M., Podlubny I., Hernandez A., Feliu V. Some approximations of fractional order operators used in control theory and applications. J. Fract. Calculus Appl. Anal. 2000, 3(3):231-248.
53. Wahlin B.T. Performance of model predictive control on ASCE test canal 1. J. Irrig. Drainage Eng. ASCE 2004, 130(3):227-237.
54. Wahlin B.T., Clemmens A. Performance of historic downstream canal control algorithms on ASCE test canal 1. J. Irrig. Drainage Eng. ASCE 2002, 128(6):365-375.
55. Wahlin B.T., Clemmens A. Automatic downstream water-level feedback control of branching canal networks: theory. J. Irrig. Drainage Eng. ASCE 2006, 132(3):208-219.
56. Wang Z.B., Wang Z.L., Cao G.Y., Zhu X.J. Digital implementation of fractional order PID controller and its application. J. Syst. Eng. Electron. 2005, 16(1):116-122.