Description and contextualization of the subject

This subject presents two main objectives. In its first part, modern control theory basics are introduced, focusing on State Space system modeling and control. Using these concepts, Model based Predictive Control approaches are introduced, an advanced control approach that combines optimum and multivariable control. This strategy is based on the use of an explicit dynamic model to calculate an optimum control law that optimizes the dynamic performance of the controlled system in a predefined sliding horizon. In the second part, different wave energy extraction devices will be analyzed from the control point of view, determining the control goal and the actuated and measurable variables. Lectures will be complemented with a practical application of designing different control strategies on a real case study wave energy converter and validation through numerical simulations.



Objetives:

 Introduce and review State Space basic control concepts in order to address advanced control approaches.

 Provide advanced control concepts that can be applied to wave energy extraction

 Provide the tools to allow the students to apply control concepts to a wave energy extraction test rig and analyse the implementation issues of the procedure.

Learning outcomes of the subject

L3.1. Students know and assimilate reasoned and rigorously the concepts related to advanced State Space control systems 50%

L3.2. Students are able to implement advanced control algorithms. 30%

L3.3. Students know the problem to be solved in the wave energy caption field. 10%

L3.4. Students are able to apply basic control concepts to the design of control systems for wave energy extraction. 10%

Ordinary call: orientations and renunciation

The assessment of the course during the ordinary examination period will be based on the proactive attendance of the course, and individual assignments:

- Basic Control evaluation: Individual assignments will count for a maximum of 40% and a minimum of 30% of the total mark. And a final work (individual or in pairs) that will count for a maximum of 20% and a minimum of 10% of the total mark.

- Applied Control evaluation: 2 individual assignments will count for the 50% of the total mark

Temary

Teaching and learning methods:



The course methodology includes different techniques and correspond to 115 working hours distributed as follows:



- Lectures, where the lecturer explains the main concepts of the subject to the whole group, projecting presentations which are complemented with additional considerations, figures and mathematical derivations on the blackboard, as well as with computer simulations. 18 hours



- Problem and exercise resolution classes, where some exercises may be solved by the lecturer, and other may be proposed to be solved individually or in groups. 7 hours



-Computer practices of 2 hours per session, where, if possible, each student works individually in a computer, coping with the design phases and learning how to analyse and validate the control systems designed. Simulation tools, SIMULINK and MATLAB: 15 hours



- Personal student work (70 hours), comprising:



- Self-study, for assimilation of the content taught during lectures: 40 hours 50 hours



- Previous work related to the Computer practices: 20 hours



Lesson 0 Review of control basics.



Lesson 1 State Space system modeling. Internal representation. State-transition equation solving.



Lesson 2 The design of State variable feedback systems. Time response. Controllability and Observability. Stability. Design con controllers based on state vector feedback. State observers.



Lesson 3 Discrete State Space control systems. Discretization. Controllability and Observability. Stability.



Lesson 4 Introduction to MPC. Origins. General Structure. Characteristics. Basic Elements.



Lesson 5 MPC in State Space domain: SISO. Formulation. Control horizon. Tuning



Lesson 6 MPC in State Space domain: MIMO. Formulation. MIMO systems. Constraints.



Lesson 7 Wave Energy extraction system modeling. General vision of the wave energy extraction devices. Control objectives and main control variables. Mathematical model of OWC devices.



Lesson 8 Design and Validation of Control Strategies. Application of control theory to OWC converters. Design of control strategies, implementation and validation through mathematical models.

Bibliography

Compulsory materials

 A classroom, equipped with a blackboard and audio-visual resources (laptop/computer with Matlab/Simulink installed and Internet connection + projector), for the lectures. A blackboard and a projector may be enough if the lecturer uses her/his own laptop.







 A computer room with Matlab/Simulink installed, equipped with a blackboard and a projector, for the computer practices. It is assumed that the lecturer uses her/his own laptop or one of the computers in the room.







 Library resources provided by the University of the Basque Country UPV/EHU, including inter-centre book loan and Internet-based access and retrieval of journal articles.

Basic bibliography

Basic textbooks



 Richard C. Dorf; Robert H. Bishop; Modern Control Systems; 12th edition, 2014, Pearson, ISBN 13: 978-1-292-02405-9

 Katsuhiko Ogata; Modern Control Engineering; 5th edition, 2010, Prentice Hall, ISBN 13: 978-0-13-615673-4

 E. Camacho, C. Bordons; Model Predictive Control; 2th edition, 2007, Springer, ISBN 13: 978-1-85233-694-3





Deepening bibliography





Internet addresses of interest





Specific journals



IEEE Transactions on Industrial Electronics