Note: Intro -- Preface -- Contents -- Contributors -- About the Editors -- 1 Perspectives on Transport of Water versus Transport over Water -- 1.1 Introduction -- 1.2 Unified Interdisciplinary Framework -- 1.3 Overall Objectives of the Framework -- 1.4 Pieces of the Framework Puzzle -- 1.5 Summarizing the Outcomes -- 1.6 Outline of the Book -- 1.7 Concluding Remarks -- References -- Part I Transport of Water -- 2 Model Predictive Control for Combined Water Supply and Navigability/Sustainability in River Systems -- 2.1 Introduction -- 2.2 Proposed Approach and Case Study -- 2.2.1 Control-Oriented Modeling Methodology -- Tanks and Dams -- Actuators -- Nodes -- River/Canal Reaches -- Urban and Irrigation Demands -- 2.2.2 MPC Problem Formulation for Water Supply Systems -- Operational Goals -- Multi-objective Performance Function -- Non-linear MPC Strategy -- 2.2.3 Case Study: Guadiana River -- Description -- Results -- 2.3 Linking Transport of and Transport over Water -- 2.4 Conclusions -- References -- 3 Data Assimilation to Improve Models used for the Automatic Control of Rivers or Canals -- 3.1 Introduction -- 3.2 Case Study -- 3.2.1 The Open Channel Hydraulic Model -- 3.2.2 Kalman Filter Framework -- Linear State Space Model -- Kalman Filter Equations -- Conditions for the Convergence of the Estimation Error of the Kalman Filter Towards 0 -- 3.2.3 A-Priori Condition for Convergence -- Theorem -- Application -- 3.2.4 Test on Four Scenarios -- Scenarios 1: Convergence of the Filter from a Wrong Initial State -- Scenarios 2: Fault Detection -- Scenarios 3: Reconstruction of Unknown Inflows -- Scenarios 4: Test on Real Field Data with a Sensor Failure -- 3.3 Transdisciplinary Discussion -- 3.4 Open Topics -- 3.5 Conclusions and Future Research -- References -- 4 Distributed LQG Control for Multiobjective Controlof Water Canals -- 4.1 Introduction. , 4.2 Case Study -- 4.2.1 Canal and Fault Description -- 4.2.2 Distributed LQG Control -- 4.2.3 Controller Reconfiguration -- Actuator Faults -- Sensor Faults -- 4.3 Linking Transport of and Transport over Water -- 4.4 Open Topics -- 4.5 Conclusions and Future Research -- References -- 5 Forecasting and Predictive Control of the Dutch Canal Network -- 5.1 Introduction of the Research -- 5.1.1 Goal of the Research -- 5.1.2 Scientific Field -- 5.1.3 Contents -- 5.2 Specific Case Study Discussion -- 5.2.1 Current Conditions -- History -- Dimensions -- Operation Structures -- Lock Operation -- Canal Water Balance -- 5.2.2 Optimization Approach -- Model Schematization -- Optimization Goals and Boundaries -- Optimization Implementation -- From Optimal Operation to Control Advice -- 5.3 Transdisciplinary Discussion into the Unified Framework -- 5.4 Open Topics -- 5.4.1 Dealing with Uncertainty -- 5.4.2 Implementation in the Operational Monitoring System -- 5.5 Conclusions and Further Research -- References -- 6 Transport of Water versus Particular Transportin Open-Channel Networks -- 6.1 Introduction -- 6.2 Case Study: The Management of Algae Transport -- 6.2.1 Flushing-Flow Strategies -- 6.2.2 Process Modeling -- 6.2.3 Simplified Linear Models -- 6.2.4 Real-Time Control of Particular Transport -- Open-Loop Control -- Closed-Loop Control -- 6.3 Discussion -- 6.3.1 Managing the Transport of Particles: What's New for Hydraulic Control? -- Does Quality Management Require a New Control Framework? -- Does the Superposition of Various Dynamics Makes the Control Problem More Complex? -- 6.3.2 Estimating the Performance of Control Strategies -- 6.3.3 A Unified Framework for Transport of and over Water? -- 6.3.4 Open Topics -- 6.4 Conclusions and Future Research -- References -- 7 Coordinating Model Predictive Control of Transportand Supply Water Systems. , 7.1 Introduction -- 7.2 Case Study: Catalunya Regional Water Network -- 7.2.1 Operational Goals of the Transport System -- 7.2.2 Operational Goals of the Supply System -- 7.2.3 Temporal Hierarchical Coordinating Technique -- 7.2.4 MPC of the Transport System -- State Space Model -- Control Objectives -- 7.2.5 MPC of the Supply System -- Control Objectives -- 7.2.6 Temporal Hierarchical Coordinating Technique -- Optimal Path Method -- Coordinating Mechanism -- Formulation of Temporal Coordination Problem -- 7.2.7 Results for the Transport System -- 7.2.8 Results for Coordination -- 7.3 Interdisciplinary Discussion into the Unified Framework -- 7.4 Open Topics -- 7.5 Conclusions and Future Research -- References -- 8 Effects of Uncertain Control in Transport of Waterin a River-Wetland System of the Low Magdalena River,Colombia -- 8.1 Introduction -- 8.2 Case Study -- 8.2.1 Hydraulics and Hydrology of the Region -- 8.2.2 Flood Defense Measures and Control Structures -- 8.3 Methodology and Main Results -- 8.3.1 Results and Discussion -- 8.4 Linking Transport of and Transport over Water -- 8.5 Open Topics -- 8.6 Conclusions and Future Research -- References -- 9 Automatic Tuning of PI Controllers for Water Level Regulation of a Multi-pool Open-Channel Hydraulic System -- 9.1 Introduction -- 9.2 Design of the PI Controller with ATV Tuning Method -- 9.2.1 Description of ATV Tuning Method -- 9.2.2 Application of ATV Method on One Canal Pool -- 9.2.3 Tuning Rule of the PI Controller -- 9.2.4 Case of Multiple Pools -- 9.3 Test Case on ASCE Canal 2 -- 9.3.1 Description of ASCE Canal 2 -- 9.3.2 Description of the Tests -- 9.3.3 Performance Indicators -- Maximum Absolute Error (MAE) -- Integral of Absolute Magnitude of Error (IAE) -- Steady-State Error (StE) -- Integrated Absolute Discharge Change (IAQ) -- 9.3.4 Experimental Design on ATV-PID. , 9.3.5 Performing the Tests -- 9.3.6 Results -- Detailed Results on Test 1 -- Detailed Results on Test 2 -- Global Ranking -- 9.4 Linking Transport of and Transport over Water -- 9.5 Conclusions and Future Research -- References -- 10 Hierarchical MPC-Based Control of an Irrigation Canal -- 10.1 Introduction -- 10.1.1 Motivation and Contributions -- 10.1.2 Control Problem Description -- 10.1.3 Outline -- 10.2 Main Results -- 10.2.1 Preliminaries -- Canal Dynamics -- Illustrative Example: Characterization of CCID Main Canal -- 10.2.2 Proposed Solution: Design of a Delivery Accelerating Hierarchical Controller -- Concept Description: Single Activation -- Extension: Multiple Activations -- 10.3 Illustrative Example: Results -- 10.3.1 Validation of the Prediction Model -- 10.3.2 Control Results -- 10.4 Linking Transport of Water with Transport over Water -- 10.5 Conclusions and Future Research -- References -- Part II Transport over Water -- 11 Model Predictive Control for Incorporating Transportof Water and Transport over Water in the Dry Season -- 11.1 Introduction -- 11.2 System Dynamics -- 11.2.1 System Dynamics of the Water System -- 11.2.2 Water-Related Infrastructures -- 11.3 MPC Control Design for Drought Management -- 11.3.1 Standard MPC Scheme and the Objective Function -- 11.3.2 Segmented Setpoint Setting in MPC -- 11.4 Simulation and Results -- 11.4.1 Simulation Setup -- 11.4.2 Scenario 1: No Setpoint Setting -- 11.4.3 Scenario 2: Low Penalty on Water Supply -- 11.4.4 Scenario 3: Low Penalty on Navigation -- 11.5 Discussion on Transport of Water and Transport Over Water -- 11.6 Conclusions and Future Research -- References -- 12 Enhancing Inland Navigation by Model Predictive Control of Water Levels: The Cuinchy-Fontinettes Case -- 12.1 Introduction -- 12.2 Methodology: Modeling the Reach for Control Purposes -- 12.3 Case Study. , 12.3.1 Application of the IDZ Model to the CFR -- 12.3.2 Controller Development -- Sampling the Linearized Model -- Setting the Rate of Change of the Discharge as Input -- Constructing a State-Space Model -- MPC State Feedback -- Constructing the Observer -- Control Architecture -- Evaluation of the Performance -- 12.4 Results and Discussion -- 12.5 Linking Transport of and Transport over Water -- 12.6 Open Topics and Possible Future Research Lines -- 12.7 Conclusions and Future Research -- References -- 13 Effects of Water Flow on Energy Consumption and Travel Times of Micro-Ferries for Energy-Efficient Transport over Water -- 13.1 Introduction -- 13.1.1 Micro-Ferry Scheduling -- Work Related to the Micro-Ferry Scheduling Problem -- Previous Results on Micro-Ferry Scheduling by the Authors -- 13.1.2 Contributions -- Theory -- Application -- 13.2 Micro-Ferry Scheduling Problem for Flowing Water -- 13.2.1 Effects of Flowing Water -- Velocities and Paths -- Effect on Travel Times -- Effect on Energy Consumption -- Proof of Theorem 2 -- 13.2.2 Problem Definition -- Optimization Variables -- Phases of a Request -- Micro-Ferries and Requests -- Mixed-Integer Linear Programming Formulation -- Case Study Example -- 13.3 Linking Transport of Water and Transport over Water -- 13.3.1 Transport over Water -- 13.3.2 Transport of Water -- 13.3.3 Contribution to a Unified Framework -- 13.3.4 Global Performance Measurement -- 13.4 Open Topics -- 13.5 Conclusions and Future Research -- 13.5.1 Conclusions -- 13.5.2 Future Research -- References -- 14 Potential Fields in Modeling Transport over Water -- 14.1 Introduction -- 14.2 Background -- 14.3 Potential Fields -- 14.4 Case Study Setup -- 14.4.1 Grid Size Versus Display Resolution and Detection Sensitivity -- 14.5 Analysis of Obtained Results -- 14.5.1 Potential Fields as Traffic Patterns for Courses SW and NE. , 14.5.2 River and Harbor Case Comparison.