Robust regulation of a river reach governed by Hayami model

In this note, we study the problem of robust regulation of a river reach system described by Hayami model. We propose a low-gain boundary PI-controller which assigns the spectrum of the closed loop system in the open left half plane and assures exponential stability. Moreover, the output regulation is guaranteed independently of any constant (known or unknown) perturbation. Numerical examples are also given to illustrate the obtained theoretical results.