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This paper proposes a model predictive control of open irrigation canals with constraints. The Saint-Venant equations are widely used in hydraulics to model an open canal. As a set of hyperbolic partial differential equations, they are not solved explicitly and difficult to design optimal control algorithms. In this work, a prediction model of an open canal is developed by discretizing the Saint-Venant equations in both space and time. Based on the prediction model, a constrained model predictive control was firstly investigated for the case of one single-pool canal and then generalized to the case of a cascaded canal with multipools. The hydraulic software SICC was used to simulate the canal and test the algorithms with application to a real-world irrigation canal of Yehe irrigation area located in Hebei province.

The accuracy of the process model directly affects the performance of the model‐based controller. In zinc hydrometallurgy, the overall dynamics of the cobalt removal process can hardly be described by a fixed model since there are a series of interconnected reactors working together under time‐varying inlet and reaction conditions. In this study, an interacting continuously stirred tank reactors (ICSTR) model is developed to describe the cooperative relationship of these cascaded reactors. Considering the time‐varying inlet and reaction conditions, the reaction surface conversion coefficient is defined and incorporated into the ICSTR model, and the kernel partial least squares (KPLS) is employed to update the dynamic model online. The effectiveness of the time‐varying ICSTR model is validated using industrial data. Based on the proposed time‐varying ICSTR model, a predictive controller is designed to realize the optimal operation of the cobalt removal process. Simulation results indicate that compared with conventional predictive control and manual manipulation, the time‐varying ICSTR model‐based predictive control method can not only maintain the outlet cobalt ion concentration but also reduce the zinc dust dosage.

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