An irrigation system including a series of mobile towers and horizontally extending spans, an irrigation fluid conduit, a number of nozzles, sensor booms, and crop sensors, and a control system. The sensor booms extend forwardly from the horizontally extending spans. The sensors are positioned near the ends of the sensor booms in front of the spray range of the nozzles and sense crop temperature or other parameters. The irrigation system irrigates the crops according to crop data analyzed by the processor in a closed-loop, real-time control scheme. In this way, the crops can be irrigated according to current crop needs with little to no user input.
