A case study on the use of a predictive adaptive algorithm to control pool level in a pilot water distribuition
canal is described. The algorithm is a modification of the basic MUSMAR controller that includes parallel
integral action and, in the case of multiple pools, feedforward action to coordinate the gates. Experimental
results in the case of a single pool and simulations for multiple pools are presented. The contributions of the
paper stem from the explicitation of rules for tuning the adaptive controller in a practical situation and from the
coordination of different pools using reduced complexity controllers and feedforward in a multivariable setting
