In this paper, we formulate a hybrid model of irrigation canal that contains four reaches where each of reach has two state events. These state events of this hybrid model are triggered by the height of the water level which has two different surfaces. We formulate this hybrid model in piecewise affine (PWA) form, transform it into mixed logical dynamic (MLD) form using hybrid system description language (HYSDEL) that was embedded in hybrid toolbox
for MATLAB and control this MLD using model predictive control (MPC). We control this irrigation canal so that the water level on each reach will be located at the desired level. Finally, we simulate this system and its controller to desire given desired level or set point. From the simulation results, the water level of all reaches are located at the desired level
