|In this project we study a hierarchical control of an irrigation canal for the purpose of delivering water to farmers in a timely manner. The lower control layer consists of decentralized PI controllers used for upstream control. In contrast, the higher control layer is formed by a centralized predictive controller, the purpose of which is to coordinate the local controllers by changing their setpoints at the times when it is needed.
We analyze two implementations of the controller: the time-driven one and the event-driven one, and compare their performance. We also study the effects of unknown disturbances on the behavior of the system by means of robust and stochastic control approaches.