Modeling and Control of Hydrosystems
Since antiquity, humanity has used engineering techniques to manage the transport and distribution of its most important resource – fresh water. Population growth and climate change are making the good management of water resources ever more essential and
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Xavier Litrico • Vincent Fromion
Modeling and Control of Hydrosystems
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Xavier Litrico, PhD UMR G-EAU, Cemagref 361 rue JF Breton, BP 5095 34196 Montpellier cedex 5 France
Vincent Fromion, PhD Mathematics, Computer Science and Genome INRA, Domaine de Vilvert 78350 Jouy-en-Josas France
ISBN 978-1-84882-623-6 e-ISBN 978-1-84882-624-3 DOI 10.1007/978-1-84882-624-3 Springer Dordrecht Heidelberg London New York British Library Cataloguing in Publication Data A catalogue record for this book is available from the British Library Library of Congress Control Number: 2009929940 © Springer-Verlag London Limited 2009 MATLAB® and Simulink® are registered trademarks and Robust Control Toolbox™ is a trademark of The MathWorks, Inc., 3 Apple Hill Drive, Natick, MA 01760-2098, U.S.A. http://www.mathworks.com Apart from any fair dealing for the purposes of research or private study, or criticism or review, as permitted under the Copyright, Designs and Patents Act 1988, this publication may only be reproduced, stored or transmitted, in any form or by any means, with the prior permission in writing of the publishers, or in the case of reprographic reproduction in accordance with the terms of licenses issued by the Copyright Licensing Agency. Enquiries concerning reproduction outside those terms should be sent to the publishers. The use of registered names, trademarks, etc., in this publication does not imply, even in the absence of a specific statement, that such names are exempt from the relevant laws and regulations and therefore free for general use. The publisher makes no representation, express or implied, with regard to the accuracy of the information contained in this book and cannot accept any legal responsibility or liability for any errors or omissions that may be made. Cover design: eStudioCalamar, Figueres/Berlin Printed on acid-free paper Springer is part of Springer Science+Business Media (www.springer.com)
Preface
Hydrosystems are an important element of the hydraulic cycle. In this book we deal with hydrosystems that can be managed, and focus our attention on the management of surface water flows. Other important aspects of the water cycle such as underground water flow are not considered in this book. With population growth and climatic change impacting water resources, the existing water transport systems need to be modernized, in order to optimize the use of this precious resource. The methods developed in this book apply to hydrosystems that can be controlled: in irrigation canals, the gates need to be operated in order to deliver water to the user; in navigation waterways, water levels need to be controlled accurately to ensure given water depths along the reaches; in combined sewer systems, overflow may be prevented by opening or closing of gates; hydroelectric power plants in regulated rivers need controllers to maintain the river water levels close to some target value; and regulated rivers used to transport water to users need to have the water release adjusted from the upstream dam to satisfy the
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