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s
i
n
th
e
ir
o
p
er
atin
g
co
n
d
itio
n
s
[
1
]
an
d
th
e
y
ca
n
g
en
er
all
y
b
e
d
escr
ib
ed
as
a
n
et
w
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p
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w
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ep
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s
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s
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m
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t
w
o
co
n
tr
o
lled
h
y
d
r
au
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s
tr
u
ct
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w
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v
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d
f
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w
s
ar
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s
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h
o
t
g
ates lo
ca
ted
alo
n
g
th
e
c
h
an
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[
2
]
.
A
m
ai
n
ca
n
al
tr
a
n
s
p
o
r
ts
w
at
er
f
r
o
m
a
b
ig
r
eser
v
o
ir
to
th
e
f
ar
m
s
an
d
co
n
tr
o
ls
t
h
e
w
at
er
f
lo
w
b
y
m
o
d
i
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y
i
n
g
th
e
o
p
en
in
g
s
o
f
s
e
v
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g
ates
[
3
]
.
T
h
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ar
e
s
itu
at
ed
in
t
h
e
w
ater
w
a
y
i
n
o
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d
er
to
r
eg
u
la
te
d
is
c
h
ar
g
e
in
r
elatio
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to
o
n
g
o
i
n
g
ir
r
ig
ati
o
n
d
e
m
an
d
s
[
4
]
.
T
h
e
d
y
n
a
m
i
cs
o
f
t
h
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w
ater
f
lo
w
ar
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ch
ar
ac
ter
ized
b
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b
et
w
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a
co
n
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an
d
its
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t
o
n
th
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v
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alo
n
g
th
e
ca
n
al,
an
d
th
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s
u
b
j
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t
to
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is
tu
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b
an
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s
,
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ar
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m
ai
n
l
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to
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t
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ith
d
r
a
w
al
s
o
r
w
ea
t
h
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co
n
d
itio
n
s
[
5
]
;
Sev
er
al
SISO
(
S
in
g
le
I
n
p
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t
Si
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g
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Ou
tp
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(
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lti
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n
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lt
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tp
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t)
m
e
th
o
d
s
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b
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d
ev
elo
p
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f
o
r
ca
n
al
o
r
ir
r
ig
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r
iv
er
s
y
s
te
m
s
.
T
h
e
ex
p
er
im
e
n
t
s
ca
r
r
ied
o
u
t
co
n
f
ir
m
th
at
t
h
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m
ai
n
b
asin
s
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ir
r
ig
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ca
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av
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lar
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ic
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eter
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e.
T
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Ga
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co
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tr
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s
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th
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p
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o
f
ir
r
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ca
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a
l
s
y
s
te
m
s
[
6
]
.
T
h
e
c
o
n
tr
o
l
o
f
ir
r
ig
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n
s
y
s
te
m
s
i
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cl
u
d
e
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p
s
tr
ea
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co
n
tr
o
l,
d
o
w
n
s
tr
ea
m
co
n
tr
o
l,
co
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tr
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lled
v
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lu
m
e
co
n
tr
o
l,
d
y
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a
m
ic
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eg
u
latio
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,
a
n
d
f
lo
w
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ate
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tr
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l
[
7]
.
I
n
o
p
en
ir
r
ig
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ca
n
als
th
e
w
ater
d
y
n
a
m
ic
s
ar
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in
g
en
er
al
m
o
d
eled
b
y
t
wo
n
o
n
lin
ea
r
p
ar
tial
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if
f
er
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tia
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eq
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s
ca
lled
th
e
Sai
n
t
-
Ve
n
an
t
eq
u
atio
n
s
[
2
]
,
th
ese
t
w
o
n
o
n
lin
ea
r
p
ar
tial
d
i
f
f
er
en
tial
eq
u
atio
n
s
ar
e
u
s
ed
to
s
tu
d
y
th
e
lev
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a
n
d
f
lo
w
b
eh
av
io
r
;
g
en
er
all
y
,
th
e
y
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n
o
t
u
s
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f
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tr
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l
d
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d
u
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to
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lex
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Var
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h
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s
p
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p
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s
e
s
i
m
p
l
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m
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d
els
[
8
]
s
u
ch
:
Evaluation Warning : The document was created with Spire.PDF for Python.
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J
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Vo
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17
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J
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20
20
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3
7
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247
238
s
tate
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s
p
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eq
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[
9
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s
t
ate
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p
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o
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m
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el
s
[
10
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in
p
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tp
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I
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)
n
o
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li
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ea
r
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o
d
els [
11
]
,
o
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I
/
O
lin
ea
r
m
o
d
els [
12
].
Dif
f
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o
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b
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ased
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M
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ater
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it
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w
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ti
m
e
-
va
r
y
in
g
d
y
n
a
m
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p
ar
a
m
eter
s
[
13
-
1
5
]
,
Dif
f
er
en
t
s
tr
ate
g
ie
s
ar
e
al
s
o
d
escr
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ed
an
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test
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o
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n
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m
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r
ical
s
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m
u
lato
r
s
o
r
lab
o
r
ato
r
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ca
n
a
ls
[
1
,
1
5
-
1
6
]
,
A
m
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g
atio
n
c
an
al
p
o
o
l
h
a
s
b
ee
n
d
ev
elo
p
ed
in
[
15
]
.
O.
B
eg
o
v
ich
et
al.
p
r
o
p
o
s
ed
th
e
p
r
in
cip
le
o
f
th
e
in
ter
n
al
m
o
d
el
u
s
ed
in
th
is
w
o
r
k
in
[
1
8
]
.
T
h
e
co
n
s
id
er
ed
ca
n
al
is
r
ep
r
esen
te
d
in
th
e
n
ex
t
s
ec
tio
n
,
w
h
er
e
th
e
co
n
tr
o
lled
v
ar
iab
les
ar
e
th
e
d
o
w
n
s
tr
ea
m
lev
e
ls
o
f
th
e
f
ir
s
t
t
h
r
ee
p
o
o
ls
an
d
t
h
e
co
n
tr
o
l
v
ar
iab
les
ar
e
th
e
o
p
en
in
g
s
o
f
t
h
e
s
l
id
e
g
ate
s
alo
n
g
o
f
t
h
e
ca
n
al
[
5
]
.
T
h
e
tr
an
s
f
er
f
u
n
ctio
n
m
o
d
el
h
a
s
b
ee
n
e
x
p
lo
r
ed
in
t
h
is
p
ap
er
f
o
r
m
o
d
eli
n
g
d
i
f
f
er
e
n
t
f
lo
w
co
n
d
i
t
io
n
s
in
th
e
s
y
s
te
m
.
I
t
is
co
n
s
id
er
ed
as
a
MI
MO
s
y
s
te
m
.
T
h
e
m
et
h
o
d
o
lo
g
y
w
as
u
s
ed
to
m
o
d
el
d
if
f
er
en
t
s
i
m
u
lat
ed
f
lo
w
co
n
d
itio
n
s
in
a
ch
a
n
n
e
l
b
y
o
p
en
in
g
an
d
c
lo
s
in
g
th
e
u
p
s
tr
ea
m
a
n
d
d
o
w
n
s
tr
ea
m
g
ates
[
1
9
]
,
th
e
w
ater
l
ev
el
co
r
r
esp
o
n
d
in
g
to
d
if
f
er
en
t f
lo
w
co
n
d
iti
o
n
s
.
T
h
e
tr
an
s
f
er
f
u
n
ctio
n
m
o
d
el
d
etails an
d
d
escr
ip
tio
n
ar
e
d
is
cu
s
s
ed
in
th
is
p
ap
er
.
T
h
e
r
o
b
u
s
t
co
n
tr
o
ller
s
ar
e
k
n
o
w
n
f
o
r
th
eir
ab
ilit
y
to
p
r
o
v
id
e
v
er
y
g
o
o
d
co
n
tr
o
l
o
f
th
is
t
y
p
e
o
f
s
y
s
te
m
.
T
h
e
m
ai
n
o
b
j
ec
tiv
e
o
f
th
e
co
n
tr
o
ller
is
to
r
eg
u
late
t
h
e
d
o
w
n
s
tr
ea
m
lev
e
l
o
f
ea
ch
ca
n
al
'
s
p
o
o
l
in
s
p
ite
o
f
lar
g
e
i
n
f
lo
w
d
is
t
u
r
b
an
ce
s
an
d
ti
m
e
-
v
ar
y
in
g
d
y
n
a
m
ical
p
ar
am
eter
s
.
T
h
e
m
e
th
o
d
o
lo
g
y
is
ap
p
lied
to
s
o
lv
e
th
e
p
r
o
b
le
m
o
f
ef
f
ec
ti
v
e
w
ate
r
d
is
tr
ib
u
tio
n
co
n
tr
o
l
i
n
a
n
ir
r
ig
atio
n
m
ain
ca
n
al
p
o
o
l
[
2
0
]
.
T
h
is
r
o
b
u
s
t
co
n
tr
o
l
m
et
h
o
d
is
ev
al
u
ated
b
y
s
i
m
u
la
tio
n
o
n
tr
an
s
f
er
f
u
n
ctio
n
m
o
d
e
l f
o
r
d
if
f
er
e
n
t f
lo
w
co
n
d
itio
n
s
.
C
o
n
tr
o
l
th
eo
r
y
i
m
p
lies
a
th
r
e
e
s
tep
p
r
o
ce
s
s
:
s
y
s
te
m
m
o
d
el
in
g
,
s
y
s
te
m
a
n
al
y
s
i
s
an
d
th
e
co
n
tr
o
ller
d
esig
n
,
in
cl
u
d
in
g
s
elec
tio
n
o
f
co
n
tr
o
ller
s
tr
u
ct
u
r
e
an
d
co
n
tr
o
l p
ar
am
e
ter
s
ca
lcu
lat
io
n
.
I
n
th
is
w
o
r
k
,
w
e
p
r
esen
t
th
e
s
y
n
t
h
e
s
is
o
f
a
r
o
b
u
s
t
co
n
tr
o
ller
w
it
h
p
r
in
cip
al
g
ai
n
s
m
eth
o
d
.
W
e
ap
p
lied
th
is
tec
h
n
iq
u
e
f
o
r
co
n
tr
o
llin
g
w
ater
lev
e
ls
in
a
m
u
lt
i
-
p
o
o
l
o
p
en
ir
r
ig
atio
n
ca
n
al
p
r
o
to
t
y
p
e.
Desig
n
an
d
test
s
ar
e
w
o
r
k
ed
o
u
t
in
s
i
m
u
lat
i
o
n
o
n
a
th
r
ee
-
p
o
o
l
o
p
en
ir
r
ig
atio
n
ca
n
al
p
r
o
to
ty
p
e.
T
h
e
b
asic
i
d
ea
o
f
r
o
b
u
s
t
co
n
tr
o
l
is
to
d
esig
n
a
co
n
tr
o
ller
th
a
t
p
r
o
v
id
es
th
e
s
tab
ili
t
y
o
f
th
e
co
n
s
id
er
ed
n
o
m
i
n
al
o
p
er
atin
g
r
eg
i
m
e
H3
an
d
d
is
tu
r
b
ed
o
p
er
atin
g
r
e
g
i
m
es
H1
an
d
H2
(
H1
,
H2
et
H3
a
r
e
g
iv
e
n
in
s
e
ctio
n
I
I
I
)
an
d
t
h
at
al
s
o
en
s
u
r
es
a
s
atis
f
ac
to
r
y
le
v
el
o
f
p
er
f
o
r
m
a
n
ce
: g
o
o
d
r
esp
o
n
s
e
ti
m
e,
s
tati
c
er
r
o
r
elim
i
n
atio
n
a
n
d
n
o
o
v
e
r
s
h
o
o
t.
T
h
is
p
ap
er
is
o
r
g
an
ized
as
f
o
llo
w
s
.
I
n
s
ec
tio
n
I
I
,
th
e
c
h
ar
ac
ter
is
tics
o
f
th
e
u
s
ed
lab
o
r
ato
r
y
ca
n
al
ar
e
p
r
esen
ted
.
Sectio
n
I
I
I
g
iv
es
a
b
r
ief
m
ath
e
m
atica
l
d
escr
ip
tio
n
o
f
m
o
d
els
o
f
th
e
ir
r
ig
atio
n
ca
n
al
p
o
o
ls
.
Sectio
n
I
V
p
r
esen
ts
b
r
ief
o
v
er
v
ie
w
o
f
r
o
b
u
s
t
co
n
tr
o
l.
Sectio
n
V
g
iv
e
s
th
e
d
etails
o
f
th
e
r
o
b
u
s
t
co
n
tr
o
ller
s
y
n
th
e
s
is
a
n
d
in
s
ec
tio
n
VI
w
e
p
r
esen
t o
u
r
o
b
s
er
v
atio
n
s
an
d
o
u
r
c
o
n
cl
u
s
io
n
2.
ST
RUC
T
UR
E
AND
D
E
S
CR
I
P
T
I
O
N
O
F
T
H
E
I
RR
I
G
AT
I
O
N
CANA
L
T
h
e
g
eo
m
etr
ical
d
ata
o
f
th
e
p
r
o
p
o
s
ed
lab
o
r
ato
r
y
ca
n
al
a
v
ailab
le
at
I
MT
A
(
Me
x
ica
n
I
n
s
ti
tu
te
o
f
W
ater
T
ec
h
n
o
lo
g
y
)
[
1
9
]
is
s
h
o
r
ten
ed
as
f
o
llo
w
s
:
it
is
5
0
m
l
o
n
g
,
6
4
c
m
w
id
e
a
n
d
1
m
h
i
g
h
T
h
e
ca
n
al
is
a
ze
r
o
s
lo
p
e
r
ec
tan
g
u
lar
i
n
o
r
d
er
to
ac
h
iev
e
th
e
lar
g
es
t
p
o
s
s
ib
le
ti
m
e
d
ela
y
,
s
ee
F
ig
u
r
e
1
.
T
h
e
s
lid
e
g
ates,
a
s
co
n
tr
o
l
s
tr
u
ct
u
r
es,
d
iv
id
e
th
e
ca
n
al
in
f
o
u
r
p
o
o
ls
an
d
a
s
er
v
o
-
v
al
v
e
ad
j
u
s
ts
th
e
in
f
lo
w
.
A
m
a
n
u
al
o
v
er
s
h
o
t
g
at
e
r
eg
u
late
s
th
e
d
o
w
n
s
tr
ea
m
le
v
e
l
o
f
th
e
ca
n
al.
E
ac
h
g
ate
o
p
er
ates
in
s
u
b
m
er
g
ed
co
n
d
itio
n
a
n
d
is
eq
u
ip
p
ed
w
i
th
a
lin
ea
r
ac
tu
ato
r
an
d
t
w
o
p
r
ess
u
r
e
s
en
s
o
r
s
to
m
ea
s
u
r
e
th
e
u
p
s
tr
ea
m
an
d
d
o
w
n
s
tr
ea
m
le
v
el
s
o
f
th
e
g
ate
s
,
an
d
a
p
o
ten
tio
m
eter
to
s
e
n
s
e
g
a
te
p
o
s
itio
n
a
n
d
li
m
it s
w
i
tch
e
s
(
m
a
x
i
m
u
m
a
n
d
m
in
i
m
u
m
g
ate
o
p
en
in
g
)
.
T
h
er
e
ar
e
n
o
t
later
al
g
ates.
As
w
e
k
n
o
w
,
an
ir
r
ig
atio
n
ca
n
al
ca
n
b
e
r
ep
r
esen
ted
a
s
a
s
e
r
ies
o
f
p
o
o
ls
,
f
o
r
p
o
o
l
w
e
d
en
o
te
b
y
th
e
co
n
tr
o
l
v
ar
iab
le
(
d
is
ch
ar
g
e)
at
th
e
u
p
s
tr
ea
m
en
d
,
+
1
th
e
co
n
tr
o
l
v
ar
iab
le
at
th
e
d
o
w
n
s
tr
ea
m
e
n
d
,
th
e
co
n
tr
o
lled
v
ar
iab
le
(
w
ater
d
ep
th
at
th
e
d
o
w
n
s
tr
ea
m
o
f
p
o
o
l
)
,
an
d
th
e
lo
ad
d
is
tu
r
b
an
ce
s
(
w
ater
o
f
f
ta
k
e)
.
T
h
e
co
n
tr
o
l
s
tr
u
ctu
r
es
in
t
h
i
s
ca
n
al
ar
e
s
lid
e
g
a
tes
a
n
d
th
e
y
d
iv
id
e
th
e
ca
n
al
in
f
o
u
r
p
o
o
ls
.
T
h
e
w
ater
lev
e
l
co
r
r
esp
o
n
d
in
g
to
d
if
f
er
en
t
f
lo
w
co
n
d
itio
n
s
,
th
e
in
f
lo
w
is
ad
j
u
s
ted
w
it
h
a
s
er
v
o
-
v
a
lv
e.
A
t
t
h
e
d
o
w
n
s
tr
ea
m
e
n
d
o
f
th
e
ca
n
al,
th
e
lev
e
l
is
r
eg
u
l
ated
b
y
a
m
a
n
u
al
o
v
er
s
h
o
t
g
a
te.
E
ac
h
g
ate
is
eq
u
ip
p
ed
w
it
h
a
lin
ea
r
ac
tu
ato
r
,
t
w
o
p
r
ess
u
r
e
s
e
n
s
o
r
s
to
m
ea
s
u
r
e
th
e
u
p
s
tr
ea
m
a
n
d
d
o
w
n
s
t
r
ea
m
lev
el
s
o
f
t
h
e
g
ate
s
,
an
d
a
p
o
ten
tio
m
eter
to
s
en
s
e
g
ate
p
o
s
itio
n
an
d
li
m
it
s
w
itc
h
es
(
m
ax
i
m
u
m
a
n
d
m
i
n
i
m
u
m
g
ate
o
p
en
in
g
)
.
A
l
l
g
ates
o
p
er
ate
in
s
u
b
m
er
g
ed
co
n
d
itio
n
[
1
9
]
.
T
h
e
in
p
u
t
-
o
u
tp
u
t
s
y
s
te
m
d
y
n
a
m
ics
ca
n
b
e
d
escr
ib
e
d
b
y
a
m
o
d
el
th
at
ca
n
b
e
ex
p
r
ess
ed
in
t
h
e
f
o
llo
w
i
n
g
f
o
r
m
:
(
)
=
(
)
(
)
;
th
e
tr
an
s
f
er
f
u
n
ctio
n
f
r
o
m
to
is
r
ep
r
esen
ted
Fro
m
th
e
lev
e
l
r
esp
o
n
s
es
to
a
s
tep
in
g
ate
o
p
en
in
g
,
it
is
o
b
s
er
v
ed
th
at
th
e
ca
n
al
r
esp
o
n
s
es
ca
n
b
e
r
ep
r
o
d
u
ce
d
b
y
f
ir
s
t
o
r
d
er
s
y
s
t
e
m
s
,
w
i
th
o
r
w
it
h
o
u
t
t
i
m
e
d
e
la
y
.
W
e
also
h
a
v
e
s
li
g
h
t
d
elay
s
d
u
e
to
s
elec
ted
in
p
u
t
s
an
d
o
u
tp
u
ts
a
n
d
p
h
y
s
ic
al
co
n
s
tr
ain
ts
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
d
o
n
esia
n
J
E
lec
E
n
g
&
C
o
m
p
Sci
I
SS
N:
2502
-
4752
R
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d
itio
n
s
5.
RO
B
UST
CO
NT
RO
L
D
E
SI
G
N
T
h
e
p
r
in
cip
al
g
ain
s
m
et
h
o
d
co
n
s
is
ts
o
f
f
i
n
d
in
g
a
co
n
tr
o
ller
K(
s
)
g
iv
en
b
y
(
8
)
s
u
ch
th
at
(
9
)
is
s
atis
f
ied
an
d
t
h
e
co
n
d
itio
n
s
(
3
)
an
d
(
6
)
f
o
r
r
o
b
u
s
t stab
ilit
y
a
n
d
p
er
f
o
r
m
a
n
ce
ar
e
also
v
er
if
ie
d
.
T
h
e
p
r
in
cip
al
g
ain
s
m
et
h
o
d
is
b
ased
o
n
f
in
d
i
n
g
a
co
n
tr
o
ller
w
it
h
t
h
e
f
o
llo
w
i
n
g
s
tr
u
ctu
r
e
[
2
4
]
:
(
)
=
1
∗
2
(
)
∗
3
∗
4
(
)
(
8
)
w
h
er
e:
1
=
−
1
(
0
)
is
th
e
i
n
v
er
s
e
s
tatic
g
ai
n
: I
t is
u
s
ed
to
d
ec
o
u
p
le
th
e
p
r
o
ce
s
s
in
lo
w
f
r
eq
u
e
n
c
y
;
2
(
)
=
1
is
a
s
et
o
f
i
n
teg
r
ato
r
s
to
eli
m
i
n
ate
th
e
s
tatic
er
r
o
r
.
3
is
a
co
m
p
r
o
m
is
e
co
ef
f
icie
n
t b
et
w
ee
n
t
h
e
s
tab
ilit
y
an
d
p
er
f
o
r
m
an
ce
s
.
4
(
)
is
a
s
tr
u
ct
u
r
e
to
r
ed
u
ce
t
h
e
r
e
s
o
n
an
ce
m
a
g
n
it
u
d
e
i
n
m
id
d
le
an
d
h
ig
h
f
r
eq
u
e
n
c
y
;
I
n
o
r
d
er
to
n
o
t
a
f
f
ec
t
th
e
co
n
tr
o
ller
i
n
lo
w
f
r
eq
u
en
c
y
,
w
e
h
av
e
to
s
et
4
(
0
)
=
,
th
is
ca
n
b
e
o
b
tain
ed
b
y
m
i
n
i
m
izati
o
n
o
f
t
h
e
f
o
llo
w
in
g
cr
iter
ia
[
1
7
]:
4
(
)
=
4
[
(
)
(
)
]
(
9
)
W
h
er
e:
(
)
×
(
)
is
a
s
tab
ilit
y
r
o
b
u
s
t c
o
n
d
itio
n
.
5
.
1
.
R
o
bu
s
t
Co
ntr
o
ller
w
it
h
P
rincipa
l G
a
in
s
M
et
ho
d
T
h
e
p
r
in
cip
al
g
ain
s
m
et
h
o
d
co
n
s
i
s
ts
o
f
f
i
n
d
i
n
g
a
co
n
tr
o
ller
K(
s
)
g
i
v
en
b
y
(
8
)
s
u
ch
t
h
at
t
h
e
co
n
d
itio
n
in
t
h
e
(
9
)
is
s
atis
f
ied
a
n
d
t
h
e
c
o
n
d
itio
n
s
in
(
3
)
an
d
(
6
)
f
o
r
r
o
b
u
s
t
s
tab
ilit
y
a
n
d
p
er
f
o
r
m
a
n
ce
ar
e
also
v
er
i
f
ied
.
A
n
o
m
i
n
al
m
o
d
el
u
s
ed
i
n
th
e
d
es
ig
n
i
s
d
ef
i
n
ed
b
y
:
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
d
o
n
esia
n
J
E
lec
E
n
g
&
C
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m
p
Sci
I
SS
N:
2502
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4752
R
o
b
u
s
t c
o
n
tr
o
ller
fo
r
a
n
o
p
en
ir
r
ig
a
tio
n
ca
n
a
l p
r
o
to
ty
p
e
(
Mer
a
b
ti N
a
r
d
jes
)
243
3
(
)
=
[
2
.
04
84
+
1
1
.
762
348
+
1
10
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609
7150
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725
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1
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1
.
81
360
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1
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6
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10
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83
653
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1
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T
h
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tain
ed
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n
tr
o
ller
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0
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=
[
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4902
−
0
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4772
−
0
.
0070
0
0
.
5525
−
0
.
5478
0
0
0
.
0923
]
T
h
e
s
tr
u
ct
u
r
e
K1
s
er
v
es
to
d
ec
o
u
p
le
th
e
s
y
s
te
m
a
t
lo
w
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r
eq
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en
cie
s
,
i
n
d
ee
d
th
e
f
o
llo
w
i
n
g
f
ig
u
r
e
illu
s
tr
ates
in
Fi
g
u
r
e
8
.
T
h
e
ef
f
ec
t
o
f
in
te
g
r
ato
r
s
et
K2
(
s
)
is
g
iv
e
n
in
th
e
F
i
g
u
r
e
1
0
an
d
F
r
eq
u
en
c
y
r
es
u
lt
s
as
s
h
o
w
n
in
F
ig
u
r
e
9
.
Fig
u
r
e
8
.
Feed
b
ac
k
p
r
in
cip
al
g
ain
s
2
=
[
1
0
0
0
1
0
0
0
1
]
W
e
ca
n
o
b
s
er
v
e
th
e
d
ec
o
u
p
lin
g
at
lo
w
f
r
eq
u
e
n
c
y
u
p
to
1
0
-
2
as
w
e
ll a
s
a
n
u
ll
s
tatic
er
r
o
r
.
W
e
ca
n
also
s
ee
t
h
e
ap
p
ea
r
an
ce
o
f
m
id
-
f
r
eq
u
e
n
c
y
r
eso
n
a
n
c
e
p
ea
k
s
o
f
1
0
-
2
u
p
to
1
0
-
1
w
h
ich
w
i
ll
b
e
eli
m
i
n
ated
b
y
t
h
e
K4
s
tr
u
ct
u
r
e
.
[
11
+
1
12
31
0
22
+
1
23
0
0
33
+
1
]
W
h
er
e
th
e
o
b
tain
ed
ij
k
v
al
u
es a
r
e
:
k
11
=
84
;
k
12
=
265
,
9
;
k
13
=
390
,
5
;
k
21
=
k
31
=
k
32
=
0
;
k
22
=
360
;
k
23
=
310
.
2
;
k
33
=
653
;
A
r
e
o
b
tain
ed
b
y
t
h
e
m
i
n
i
m
iza
tio
n
o
f
th
e
cr
iter
io
n
g
i
v
e
n
in
(
9
)
;
th
e
co
ef
f
icie
n
t
v
al
u
e
(
K3
=
0
.
0
3
)
is
o
b
tain
ed
b
y
t
h
e
s
i
m
u
latio
n
[
2
5
]
,
in
o
r
d
er
to
ad
j
u
s
t th
e
co
m
p
r
o
m
is
e
b
et
w
ee
n
s
tab
ilit
y
an
d
p
er
f
o
r
m
an
ce
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
5
0
2
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4752
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n
d
o
n
esia
n
J
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lec
E
n
g
&
C
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m
p
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l.
17
,
No
.
1
,
J
an
u
ar
y
20
20
:
2
3
7
-
247
244
Fin
all
y
,
w
e
ca
n
g
i
v
e
th
e
o
v
er
all
g
lo
b
al
co
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tr
o
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th
e
(
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as f
o
llo
w
s
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=
[
1
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235
+
0
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01471
−
1
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243
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0
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01432
1
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165
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0
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2
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0
2
0
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96
7
+
0
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01657
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5
.
5
91
−
0
.
01644
0
0
1
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809
−
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]
T
h
e
F
ig
u
r
e
1
1
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s
t
r
ate
s
th
e
r
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lt
s
in
f
r
eq
u
e
n
c
y
d
o
m
ai
n
wh
er
e
w
e
ca
n
o
b
s
er
v
e
th
at
t
h
e
r
o
b
u
s
tn
es
s
co
n
d
itio
n
s
ar
e
n
o
t
v
io
lated
;
t
h
e
s
tab
il
it
y
is
g
u
ar
an
teed
i
f
t
h
e
lar
g
e
s
t
s
in
g
u
lar
v
a
lu
e
o
f
c
lo
s
ed
lo
o
p
tr
an
s
f
er
m
atr
i
x
f
u
n
ctio
n
(
(
)
)
is
lo
w
er
th
an
th
e
u
p
p
er
b
o
u
n
d
o
f
th
e
l
ar
g
est
s
i
n
g
u
lar
v
al
u
e
o
f
th
e
m
o
d
e
l
u
n
ce
r
tai
n
tie
s
(
1
/
[
(
)
]
)
.
T
h
e
s
a
m
e
id
ea
i
s
u
s
ed
f
o
r
th
e
r
o
b
u
s
t p
er
f
o
r
m
a
n
ce
cr
iter
io
n
.
Fig
u
r
e
9
.
Fre
q
u
en
c
y
r
e
s
u
l
ts
Fig
u
r
e
1
0
.
Fre
q
u
en
c
y
r
es
u
lt
s
T
h
e
s
tep
an
d
im
p
u
l
s
e
r
esp
o
n
s
es
g
iv
e
n
in
t
h
e
th
r
ee
f
o
llo
w
i
n
g
f
i
g
u
r
e
s
,
th
e
y
s
h
o
w
th
at
t
h
e
s
tab
ilit
y
an
d
th
e
g
o
o
d
p
er
f
o
r
m
an
ce
ar
e
r
ea
li
ze
d
w
it
h
s
tr
o
n
g
atte
n
u
at
io
n
s
o
f
th
e
i
n
ter
ac
tio
n
s
(
w
ea
k
co
u
p
li
n
g
)
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
d
o
n
esia
n
J
E
lec
E
n
g
&
C
o
m
p
Sci
I
SS
N:
2502
-
4752
R
o
b
u
s
t c
o
n
tr
o
ller
fo
r
a
n
o
p
en
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ig
a
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n
ca
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o
to
ty
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(
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a
b
ti N
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r
d
jes
)
245
Fig
u
r
e
1
1
.
T
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p
o
r
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r
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s
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d
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m
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w
it
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tep
[
1
0
0
]
’
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em
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o
r
al
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o
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w
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0
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an
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as
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Fig
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1
2
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u
r
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1
3
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o
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ed
m
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it
h
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tep
[
0
0
1
]
’
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
5
0
2
-
4752
I
n
d
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n
esia
n
J
E
lec
E
n
g
&
C
o
m
p
Sci,
Vo
l.
17
,
No
.
1
,
J
an
u
ar
y
20
20
:
2
3
7
-
247
246
6.
CO
NCLU
SI
O
N
I
n
th
is
p
ap
er
,
w
e
h
a
v
e
p
r
esen
t
ed
,
ap
p
lied
an
d
v
alid
ated
an
e
f
f
icien
t
au
to
m
atic
co
n
tr
o
ller
f
o
r
a
m
u
lt
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-
p
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o
l o
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r
ig
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n
ca
n
al
p
r
o
to
ty
p
e
i
n
o
r
d
er
to
r
eg
u
late
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h
e
w
ater
le
v
el
at
t
h
e
d
o
w
n
s
tr
ea
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en
d
o
f
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ch
p
o
o
l to
a
s
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if
ied
r
ef
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e
n
ce
v
a
lu
e,
u
n
d
er
i
n
f
lo
w
d
i
s
t
u
r
b
an
ce
s
.
T
h
e
co
n
tr
o
ller
i
n
q
u
es
tio
n
i
s
m
o
r
e
r
o
b
u
s
t
t
h
an
s
tan
d
ar
d
P
I
co
n
tr
o
ller
s
to
h
ig
h
f
r
eq
u
e
n
c
y
n
o
i
s
es
an
d
m
o
d
elin
g
in
ac
c
u
r
ac
ies.
I
n
ir
r
ig
atio
n
ca
n
al
p
o
o
ls
,
th
e
d
y
n
a
m
ics
s
tr
o
n
g
l
y
ch
a
n
g
e
w
it
h
t
h
e
d
is
ch
ar
g
e
r
eg
i
m
e
v
ar
iati
o
n
s
.
T
h
e
ad
o
p
ted
r
o
b
u
s
t
co
n
tr
o
l
s
tr
ateg
y
in
v
o
l
v
es
a
r
o
b
u
s
t
co
n
tr
o
ller
w
it
h
p
r
i
n
cip
al
g
a
in
s
m
et
h
o
d
en
s
u
r
i
n
g
s
tab
ilit
y
,
r
o
b
u
s
t
n
e
s
s
a
n
d
p
er
f
o
r
m
an
ce
.
T
h
e
r
o
b
u
s
tn
es
s
p
r
o
p
er
ties
o
f
th
is
c
o
n
tr
o
ller
h
av
e
b
ee
n
j
u
s
ti
f
ied
t
h
eo
r
etica
ll
y
i
n
a
q
u
alitati
v
e
wa
y
.
T
h
e
in
ter
est
o
f
s
u
c
h
co
n
tr
o
ller
s
is
j
u
s
tif
ied
b
y
t
h
e
f
ac
t
th
at
d
y
n
a
m
ical
p
ar
a
m
eter
s
o
f
ir
r
ig
atio
n
ca
n
al
p
o
o
ls
m
a
y
c
h
a
n
g
e
co
n
s
id
er
ab
l
y
in
f
u
n
ctio
n
o
f
its
o
p
er
atio
n
r
eg
im
e
s
.
Si
m
u
latio
n
s
i
n
Ma
tlab
en
v
ir
o
n
m
e
n
t
h
av
e
b
ee
n
ca
r
r
ied
o
u
t
in
a
m
u
lti
-
p
o
o
l
ir
r
ig
atio
n
c
an
al
p
r
o
to
ty
p
e
at
I
MT
A
(
Me
x
ican
I
n
s
ti
tu
te
o
f
W
ater
T
ec
h
n
o
lo
g
y
)
.
T
h
ese
s
i
m
u
lat
io
n
s
s
h
o
w
ed
t
h
e
ap
p
r
ec
iab
le
p
er
f
o
r
m
a
n
ce
a
n
d
r
o
b
u
s
t
n
es
s
o
f
t
h
i
s
co
n
tr
o
ller
.
Fi
n
all
y
,
w
e
h
a
v
e
to
m
en
tio
n
t
h
at
th
e
e
m
p
lo
y
ed
lin
ea
r
m
o
d
els
o
b
tain
ed
b
y
id
e
n
ti
f
icatio
n
ar
e
s
i
m
p
le
an
d
w
e
m
u
s
t
k
n
o
w
i
f
th
e
y
re
all
y
r
ef
lect
all
co
m
p
lex
p
h
e
n
o
m
e
n
a
o
f
o
p
er
atio
n
al
ca
n
als
s
u
ch
as
s
lo
p
e
ch
a
n
g
e
s
,
f
r
icti
o
n
s
,
etc.
T
h
er
ef
o
r
e,
th
e
u
s
e
o
f
t
h
ese
m
o
d
el
s
co
u
ld
b
e
r
ec
o
n
s
id
er
ed
in
f
u
t
u
r
e
w
o
r
k
.
RE
F
E
R
E
NC
E
S
[1
]
De
Oliv
e
ira,
J.B.
e
t
a
l.
"
Op
ti
m
iz
e
d
F
ra
c
ti
o
n
a
l
Ord
e
r
S
li
d
i
n
g
M
o
d
e
Co
n
tro
l
ler
f
o
r
Wate
r
lev
e
l
in
irri
g
a
ti
o
n
c
a
n
a
l
p
o
o
l
"
IFA
C
7
6
6
3
–
7
6
6
8
,
2
0
1
7
.
[2
]
L
it
ri
c
o
,
X.
a
n
d
F
r
o
m
io
n
V
.
"
M
o
d
e
li
n
g
a
n
d
c
o
n
tr
o
l
o
f
h
y
d
ro
-
s
y
ste
m
s.
"
S
p
rin
g
e
r
,
2
0
0
9
.
[3
]
A
.
J.
Cle
m
m
e
n
s
e
t
a
l.
“
Co
n
tro
l
o
f
Irri
g
a
ti
o
n
Ca
n
a
l
Ne
tw
o
rk
s
”
J
o
u
rn
a
l
o
f
Irr
i
g
a
n
d
Dr
a
i
E
n
g
Vo
l.
1
1
5
,
Iss
u
e
1
,
F
e
b
ru
a
ry
1
9
8
9
.
[4
]
S
e
p
ú
lv
e
d
a
T
o
e
p
f
e
r,
C.
A
.
"
In
str
u
m
e
n
tatio
n
,
m
o
d
e
l
i
d
e
n
ti
f
ica
ti
o
n
a
n
d
c
o
n
tr
o
l
o
f
a
n
e
x
p
e
rim
e
n
tal
irri
g
a
ti
o
n
c
a
n
a
l
",
Do
c
to
ra
l
T
h
e
sis
,
2
0
0
7
.
[5
]
Be
g
o
v
ich
,
O.
e
t
a
l
.
"
P
re
d
ictiv
e
c
o
n
tr
o
l
w
it
h
c
o
n
stra
i
n
ts
o
f
a
m
u
lt
i
-
p
o
o
l
irr
ig
a
ti
o
n
c
a
n
a
l
p
ro
t
o
ty
p
e
"
,
L
a
ti
n
Ame
ric
a
n
Ap
p
li
e
d
Res
e
a
rc
h
3
7
,
1
7
7
-
1
8
5
,
2
0
0
7
.
[6
]
L
it
rico
,
X.
a
n
d
F
r
o
m
io
n
V
.
"
F
re
q
u
e
n
c
y
M
o
d
e
li
n
g
o
f
Op
e
n
-
C
h
a
n
n
e
l
F
lo
w
"
,
Jo
u
rn
a
l
o
f
h
y
d
ra
u
li
c
e
n
g
in
e
e
rin
g
;
V
o
l
.
1
3
0
,
No
.
8
.
IS
S
N
0
7
3
3
-
9
4
2
9
,
2
0
0
4
.
[7
]
A.
J.
Cle
m
m
e
n
s
a
n
d
J.
A
.
Re
p
lo
g
le
“
Co
n
tro
l
o
f
Irri
g
a
ti
o
n
Ca
n
a
l
Ne
tw
o
rk
s
”
J
o
u
rn
a
l
o
f
irrig
a
ti
o
n
a
n
d
d
ra
in
a
g
e
e
n
g
ien
e
e
rin
g
V
.
1
1
5
issu
e
1
,
F
e
b
r
u
a
r
y
1
9
8
9
[8
]
L
it
rico
,
X.
a
n
d
F
r
o
m
io
n
,
V
.
“
S
imp
li
f
ied
m
o
d
e
ll
in
g
o
f
irri
g
a
ti
o
n
c
a
n
a
ls
f
o
r
c
o
n
tr
o
ll
e
r
d
e
sig
n
”
.
J
o
u
r
n
a
l.
Irr
i
g
.
Dr
a
i
n
.
En
g
.
,
1
3
0
(
5
):
3
7
3
–
3
8
3
,
2
0
0
4
b
.
[9
]
M
a
late
rre
,
P
.
O.
a
n
d
Ro
d
e
ll
a
r
J.
"
M
u
lt
iva
ria
b
le p
re
d
ictive
c
o
n
tr
o
l
o
f
irrig
a
ti
o
n
c
a
n
a
l:
d
e
si
g
n
a
n
d
e
v
a
lu
a
ti
o
n
o
n
a
2
-
p
o
o
l
m
o
d
e
l
"
,
P
r
o
c
e
e
d
in
g
s
o
f
t
h
e
In
ter
n
a
ti
o
n
a
l
W
o
rk
sh
o
p
o
n
Re
g
u
latio
n
o
f
Irri
g
a
ti
o
n
Ca
n
a
ls
,
M
o
r
o
c
c
o
,
230
-
2
3
8
,
1
9
9
7
.
[1
0
]
Be
sa
n
ç
o
n
,
G
.
e
t
a
l.
"
F
irst
e
x
p
e
ri
m
e
n
tal
re
su
lt
s
o
f
n
o
n
li
n
e
a
r
c
o
n
tr
o
l
i
n
irri
g
a
ti
o
n
c
a
n
a
ls
",
S
e
c
o
n
d
I
FA
C
S
y
mp
o
siu
m
o
n
S
y
ste
m,
S
tru
c
t
u
re
a
n
d
C
o
n
tr
o
l
"
S
S
S
C2
0
0
4
"
,
Oa
x
a
c
a
,
M
é
x
ico
,
2
0
0
4
.
[1
1
]
Eu
ré
n
,
K.
a
n
d
W
e
y
e
r
E.
"
S
y
ste
m
id
e
n
ti
fi
c
a
ti
o
n
o
f
o
p
e
n
w
a
ter
c
h
a
n
n
e
ls
wit
h
u
n
d
e
rs
h
o
t
a
n
d
o
v
e
rs
h
o
t
g
a
tes
",
1
6
th
IF
A
C
W
o
rld
Co
n
g
re
ss
,
P
ra
g
u
e
,
Cz
e
c
h
Re
p
u
b
li
c
,
2
0
0
5
.
[1
2
]
Be
g
o
v
ich
,
O
e
t
a
l.
"
Re
a
l
-
ti
m
e
a
p
p
li
c
a
ti
o
n
o
f
a
f
u
z
z
y
g
a
in
sc
h
e
d
u
li
n
g
c
o
n
tr
o
l
sc
h
e
m
e
to
a
m
u
lt
i
-
p
o
o
l
o
p
e
n
irr
ig
a
ti
o
n
c
a
n
a
l
p
ro
t
o
ty
p
e
",
J
o
u
rn
a
l
o
f
I
n
tell
ig
e
n
t
&
Fu
zz
y
S
y
ste
ms
,
16
,
1
8
9
-
1
9
9
,
2
0
0
5
.
[1
3
]
L
it
rico
,
X.
a
n
d
F
ro
m
io
n
V
.
"
De
sig
n
o
f
S
tr
u
c
tu
re
d
M
u
lt
iva
ria
b
le
C
o
n
tro
ll
e
rs
fo
r
Irr
ig
a
ti
o
n
Ca
n
a
ls
",
P
r
o
c
e
e
d
in
g
s
o
f
th
e
4
4
t
h
I
EE
E
Co
n
f
e
re
n
c
e
o
n
D
e
c
isio
n
a
n
d
Co
n
tro
l
,
a
n
d
th
e
E
u
r
o
p
e
a
n
Co
n
tro
l
C
o
n
f
e
re
n
c
e
2
0
0
5
S
e
v
il
le,
S
p
a
i
n
,
De
c
e
m
b
e
r
1
2
-
1
5
,
2
0
0
5
.
[1
4
]
S
á
n
c
h
e
z
,
L
.
e
t
a
l
.
"
Ro
b
u
st
C
o
n
tro
l
o
f
a
L
a
b
o
ra
to
ry
Hy
d
ra
u
li
c
Ca
n
a
l
b
y
Us
in
g
a
Fra
c
ti
o
n
a
l
PI
Co
n
tro
l
ler
"
,
In
tern
a
ti
o
n
a
l
De
sig
n
En
g
i
n
e
e
rin
g
T
e
c
h
n
ica
l
Co
n
f
e
re
n
c
e
s
a
n
d
Co
m
p
u
ters
a
n
d
In
f
o
rm
a
ti
o
n
in
En
g
in
e
e
rin
g
Co
n
f
e
re
n
c
e
.
V
o
l
.
5
,
1
3
0
7
-
1
3
1
5
,
2
0
0
7
.
[1
5
]
Riv
a
s
-
P
e
re
z
,
R.
e
t
a
l
.
"
Co
n
tro
l
-
o
rie
n
ted
mo
d
e
l
o
f
a
c
o
mp
lex
irrig
a
ti
o
n
m
a
in
c
a
n
a
l
p
o
o
l
"
.
I
n
:
IF
A
C
P
ro
c
e
e
d
i
n
g
s
V
o
l
u
m
e
s IF
A
C
-
P
a
p
e
rs On
li
n
e
2
9
1
9
-
2
9
2
4
,
2
0
1
1
.
[1
6
]
Ag
u
il
a
r,
J.
V
.
e
t
a
l.
"
P
r
e
d
i
c
ti
v
e
c
o
n
t
ro
l
o
f
ir
r
i
g
a
t
io
n
c
a
n
a
l
s
-
r
o
b
u
s
t
d
e
s
i
g
n
a
n
d
r
e
a
l
-
ti
m
e
i
m
p
l
e
m
e
n
t
a
t
io
n
"
I
n
t
e
rn
a
t
io
n
a
l
J
o
u
rn
a
l
o
f
W
a
ter
R
e
so
u
rc
e
s M
a
n
a
g
e
me
n
t
S
p
ri
n
g
e
r
,
V
o
l
u
m
e
3
0
,
I
s
s
u
e
11
,
p
p
3
8
2
9
-
3
8
4
3
,
2
0
1
6
.
[1
7
]
R
.
R
iv
a
s
-
P
er
ez
e
t
al.
“
Ma
th
e
m
atica
l
m
o
d
el
f
o
r
r
o
b
u
s
t
co
n
tr
o
l
o
f
an
ir
r
ig
atio
n
m
a
in
ca
n
a
l
p
o
o
l”
E
ls
ev
ier
I
SS
N:
1
3
6
4
-
8
1
5
2
,
2
0
1
4
.
[1
8
]
Be
g
o
v
ich
,
O.,
M
a
rti
n
e
z
,
E.
a
n
d
Ru
iz,
V
.
M
.
"
De
c
e
n
tra
li
ze
d
Fu
zz
y
Ga
in
S
c
h
e
d
u
li
n
g
C
o
n
tro
l
f
o
r
a
n
Op
e
n
Irr
ig
a
ti
o
n
Ca
n
a
l
Pr
o
to
ty
p
e
"
.
4
th
In
ter
n
a
t
io
n
a
l
C
o
n
f
e
re
n
c
e
o
n
El
e
c
tri
c
a
l
a
n
d
El
e
c
tro
n
ics
En
g
in
e
e
rin
g
,
ICEE
E
2
0
0
7
.
262
-
2
6
5
,
2
0
0
7
.
[1
9
]
Be
g
o
v
ich
,
O.,
F
e
li
p
e
,
J.C.
a
n
d
Ru
iz
V
.
M
.
"
Re
a
l
-
ti
m
e
i
m
p
le
m
e
n
tatio
n
o
f
a
d
e
c
e
n
tralize
d
c
o
n
tr
o
l
f
o
r
a
n
o
p
e
n
irri
g
a
ti
o
n
c
a
n
a
l
p
ro
t
o
ty
p
e
",
Asia
n
J
o
u
rn
a
l
o
f
Co
n
tro
l
,
V
o
l
.
9
,
No
.
2
,
p
p
.
1
7
0
-
1
7
9
,
2
0
0
7
.
[2
0
]
V
.
F
e
li
u
-
Ba
tl
le
e
t
a
l
.
“
F
ra
c
ti
o
n
a
l
o
rd
e
r
c
o
n
tr
o
ll
e
r
ro
b
u
st
to
ti
m
e
d
e
la
y
v
a
riatio
n
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