A multivariable LPV controller with a gain scheduling SP scheme applicable to open-flow canal systems.

The LPV controller based on SP is designed considering uncertainty in the estimation of delay and the variation of plant parameters according to the operating point.

The proposed approach can be applied to a class of delay systems represented by a set of models factorized into a rational multivariable model in series with left/right diagonal (multiple) delays

A multiple pool canal system has been satisfactorily used to test and validate the proposed control approach.