GoRoSo: Feedforward Control Algorithm for Irrigation Canals Based on Sequential Quadratic Programming

Abstract

The feedforward control canal problem is stated as a nonlinear optimization problem with constraints on the gate movements. It is numerically solved with the use of the sequential quadratic problem (SQP) method and the active set. The main objective of the resulting GoRoSo algorithm is the scheduling of the gate openings over a programmed operation scenario, and their calculation relies on the use of the Saint-Venant’s complete model over a prediction horizon. A numerical and analytical procedure is developed to quantify the influence of any gate movement over the canal flow conditions for a prediction time horizon. All these influences are lumped together in a global matrix, which is referred to as the hydraulic influence matrix. The GoRoSo algorithm is validated by means of a series of test developed by the ASCE task committee on canal automation algorithms.