Ponències/Comunicacions de congressos
http://hdl.handle.net/2117/1126
20171213T15:24:29Z

Periodic nonlinear economic model predictive control with changing horizon for water distribution networks
http://hdl.handle.net/2117/111073
Periodic nonlinear economic model predictive control with changing horizon for water distribution networks
Wang, Ye; Salvador, José Ramón; Muñoz De la Peña, David; Puig Cayuela, Vicenç; Cembrano Gennari, Gabriela
A periodic nonlinear economic model predictive control (EMPC) with changing prediction horizon is proposed for the optimal management of water distribution networks (WDNs). The control model of the WDN is built by means of nonlinear differentialalgebraic equations in which both the hydraulic pressure and flow variables are taken into account. The model allows the controller to consider minimum pressure constraints at the demands. A periodic terminal constraint is employed in order to guarantee closedloop stability. The prediction horizon is modified online in order to guarantee convergence to the optimal periodic trajectory. The proposed control strategy is verified with the case study of the Richmond water network in a realistic hydraulic simulator. Although there are modeling errors between the control model and hydraulic model, the closedloop system converges to a suboptimal periodic trajectory satisfying all the constraints.
20171122T13:02:17Z
Wang, Ye
Salvador, José Ramón
Muñoz De la Peña, David
Puig Cayuela, Vicenç
Cembrano Gennari, Gabriela
A periodic nonlinear economic model predictive control (EMPC) with changing prediction horizon is proposed for the optimal management of water distribution networks (WDNs). The control model of the WDN is built by means of nonlinear differentialalgebraic equations in which both the hydraulic pressure and flow variables are taken into account. The model allows the controller to consider minimum pressure constraints at the demands. A periodic terminal constraint is employed in order to guarantee closedloop stability. The prediction horizon is modified online in order to guarantee convergence to the optimal periodic trajectory. The proposed control strategy is verified with the case study of the Richmond water network in a realistic hydraulic simulator. Although there are modeling errors between the control model and hydraulic model, the closedloop system converges to a suboptimal periodic trajectory satisfying all the constraints.

Construcción y modelado de un prototipo fan & plate para prácticas de control automático
http://hdl.handle.net/2117/110677
Construcción y modelado de un prototipo fan & plate para prácticas de control automático
Lampon Diestre, Cristina; Martín Morilla, Javier; Costa Castelló, Ramon; Lokesh Chowdary, Muppaneni
En este trabajo se presenta una plataforma de prácticas de control automático robusto y de bajo coste. El trabajo describe los componentes y la arquitectura propuestos, además de presentar los modelos utilizados para describir su comportamiento. Finalmente se muestran algunos resultados experimentales.
20171115T12:21:04Z
Lampon Diestre, Cristina
Martín Morilla, Javier
Costa Castelló, Ramon
Lokesh Chowdary, Muppaneni
En este trabajo se presenta una plataforma de prácticas de control automático robusto y de bajo coste. El trabajo describe los componentes y la arquitectura propuestos, además de presentar los modelos utilizados para describir su comportamiento. Finalmente se muestran algunos resultados experimentales.

Economic model predictive control for energy dispatch of a smart microgrid system
http://hdl.handle.net/2117/110670
Economic model predictive control for energy dispatch of a smart microgrid system
Nassourou, M; Puig Cayuela, Vicenç; Blesa Izquierdo, Joaquim; OcampoMartínez, Carlos
The problem of energy dispatch in heterogeneous complex systems such as smart grids cannot be efficiently solved using classical control or adhoc methods. This paper proposes the application of Economic Model Predictive Control (EMPC) for the management of a smart microgrid system connected to an electrical power grid. The system comprises several subsystems, namely some photovoltaic (PV) panels, a wind generator, a hydroelectric generator, a diesel generator, and
some storage devices (batteries). The batteries are charged with
the energy from the PV panels, wind and hydroelectric generators, and they are discharged whenever the generators produce less energy than needed. The subsystems are interconnected via a DC Bus, from which load demands are satisfied. Assuming the load demand and the energy prices to be known, this study shows that EMPC is economically superior to other Model Predictive Control (MPC) based strategies (a
standard tracking MPC, and their cascaded version in form of hierarchical twolayer approach).
© 2017 IEEE. Personal use of this ma terial is permitted. Permission from IEEE must be obtained for al l other uses, in any current or future media, including reprinting /republishing this material for advertising or promotional purposes, creating new collective works, f or resale or redistribution to se rvers or lists, or reuse of any copyrighted compone nt of this work in other works
20171115T11:20:41Z
Nassourou, M
Puig Cayuela, Vicenç
Blesa Izquierdo, Joaquim
OcampoMartínez, Carlos
The problem of energy dispatch in heterogeneous complex systems such as smart grids cannot be efficiently solved using classical control or adhoc methods. This paper proposes the application of Economic Model Predictive Control (EMPC) for the management of a smart microgrid system connected to an electrical power grid. The system comprises several subsystems, namely some photovoltaic (PV) panels, a wind generator, a hydroelectric generator, a diesel generator, and
some storage devices (batteries). The batteries are charged with
the energy from the PV panels, wind and hydroelectric generators, and they are discharged whenever the generators produce less energy than needed. The subsystems are interconnected via a DC Bus, from which load demands are satisfied. Assuming the load demand and the energy prices to be known, this study shows that EMPC is economically superior to other Model Predictive Control (MPC) based strategies (a
standard tracking MPC, and their cascaded version in form of hierarchical twolayer approach).

Verification of the control system performance using viability theory
http://hdl.handle.net/2117/110664
Verification of the control system performance using viability theory
Ghaniee Zarch, Majid; Puig Cayuela, Vicenç; Poshtan, Javad
The development of efficient methods for the control system performance verification has drawn a lot of attention recently. In this paper, the use of viability theory for this purpose is investigated in case of nonlinear systems. In particular, verification algorithms based on the use of the computation of invariance and viability kernels and capture basin are proposed. A Lagrangian method has been used in order to approximate these sets for nonlinear systems. Because of simplicity and efficient computations, zonotopes are adopted for set representation. An application example based on a well known control benchmark is provided in order to show the effectiveness of the proposed method.
; © 2017 IEEE. Personal use of this ma terial is permitted. Permission from IEEE must be obtained for al l other uses, in any current or future media, including reprinting /republishing this material for advertising or promotional purposes, creating new collective works, f or resale or redistribution to se rvers or lists, or reuse of any copyrighted compone nt of this work in other works
20171115T10:36:55Z
Ghaniee Zarch, Majid
Puig Cayuela, Vicenç
Poshtan, Javad
The development of efficient methods for the control system performance verification has drawn a lot of attention recently. In this paper, the use of viability theory for this purpose is investigated in case of nonlinear systems. In particular, verification algorithms based on the use of the computation of invariance and viability kernels and capture basin are proposed. A Lagrangian method has been used in order to approximate these sets for nonlinear systems. Because of simplicity and efficient computations, zonotopes are adopted for set representation. An application example based on a well known control benchmark is provided in order to show the effectiveness of the proposed method.

On the dynamic modelling and simulation of rigidflexible manipulator robot using several inputs
http://hdl.handle.net/2117/110661
On the dynamic modelling and simulation of rigidflexible manipulator robot using several inputs
Zribi, Sameh; Tlijani, Hatem; Knani, Jilani; Puig Cayuela, Vicenç
The purpose of this paper is to develop a dynamic model of a rigidflexible manipulator robot with a load on its endpoint using EulerLagrange formulation. In order to test the performance of the studied system, several mathematical functions are used as motion profile. It choice is very important because it affects the robot’s performance. Different factors intervene in this choice. However, the most important is the torque’s continuity and the movement’s smoothness. Numerical simulations show the robustness of the dynamic model of the studied system for several motions profiles.
© 2017 IEEE. Personal use of this ma terial is permitted. Permission from IEEE must be obtained for al l other uses, in any current or future media, including reprinting /republishing this material for advertising or promotional purposes, creating new collective works, f or resale or redistribution to se rvers or lists, or reuse of any copyrighted compone nt of this work in other works
20171115T10:12:58Z
Zribi, Sameh
Tlijani, Hatem
Knani, Jilani
Puig Cayuela, Vicenç
The purpose of this paper is to develop a dynamic model of a rigidflexible manipulator robot with a load on its endpoint using EulerLagrange formulation. In order to test the performance of the studied system, several mathematical functions are used as motion profile. It choice is very important because it affects the robot’s performance. Different factors intervene in this choice. However, the most important is the torque’s continuity and the movement’s smoothness. Numerical simulations show the robustness of the dynamic model of the studied system for several motions profiles.

Different architectures to develop repetitive controllers
http://hdl.handle.net/2117/110508
Different architectures to develop repetitive controllers
Sanz i López, Víctor; Costa Castelló, Ramon; Ramos Fuentes, German A.
In this work several architectures to implement repetitive controllers are compared. A complete analytical analysis is performed for these dierent architectures and a simulation example with a power converter is included.
© <year>. This manuscript version is made available under the CCBYNCND 4.0 license http://creativecommons.org/licenses/byncnd/4.0/
20171113T16:55:54Z
Sanz i López, Víctor
Costa Castelló, Ramon
Ramos Fuentes, German A.
In this work several architectures to implement repetitive controllers are compared. A complete analytical analysis is performed for these dierent architectures and a simulation example with a power converter is included.

Reducedorder intervalobserver design for dynamic systems with timeinvariant uncertainty
http://hdl.handle.net/2117/110507
Reducedorder intervalobserver design for dynamic systems with timeinvariant uncertainty
Pourasgharlafmejani, Masoud; Puig Cayuela, Vicenç; OcampoMartínez, Carlos; Zhang, Qinghua
This paper addresses the design of reducedorder intervalobservers for dynamic systems with timeinvariant uncertainty. Because of the limitations of using the setbased approach to preserve the time dependency of parameter uncertainty and the wrapping effect to deal with intervalobservers, the trajectorybased intervalobserver approach is used with an appropriate observer gain. But, there could be some diculties to satisfy the conditions for selecting a suitable gain to guarantee the positivity of the resulting observer. Then, a reducedorder observer is designed to reduce the computational complexity and to increase the degree of freedom when selecting the observer gain. Finally, a simulation example is employed for illustrating and analyzing the eectiveness of the proposed approach.
© <year>. This manuscript version is made available under the CCBYNCND 4.0 license http://creativecommons.org/licenses/byncnd/4.0/
20171113T16:50:03Z
Pourasgharlafmejani, Masoud
Puig Cayuela, Vicenç
OcampoMartínez, Carlos
Zhang, Qinghua
This paper addresses the design of reducedorder intervalobservers for dynamic systems with timeinvariant uncertainty. Because of the limitations of using the setbased approach to preserve the time dependency of parameter uncertainty and the wrapping effect to deal with intervalobservers, the trajectorybased intervalobserver approach is used with an appropriate observer gain. But, there could be some diculties to satisfy the conditions for selecting a suitable gain to guarantee the positivity of the resulting observer. Then, a reducedorder observer is designed to reduce the computational complexity and to increase the degree of freedom when selecting the observer gain. Finally, a simulation example is employed for illustrating and analyzing the eectiveness of the proposed approach.

Observerbased sensor fault detectability: about robust positive invariance approach and residual sensitivity
http://hdl.handle.net/2117/110505
Observerbased sensor fault detectability: about robust positive invariance approach and residual sensitivity
Rahman Kodakkadan, Abid; Pourasgharlafmejani, Masoud; Puig Cayuela, Vicenç; Olaru, Sorin; OcampoMartínez, Carlos; Reppa, Vasso
This paper considers detectability of deviation of sensors from their nominal behavior for a class of linear timeinvariant discretetime systems in the presence of bounded additive uncertainties. Detectable sensor faults using interval observers are analyzed considering two distinct approaches: invariantsets and classical faultsensitivity method. It can be inferred from this analysis that both approaches derive distinct formulations for minimum detectable fault magnitude, though qualitatively similar. The core difference lies in the method of construction of the invariant set offline in the former method and the reachable approximation of the convergence set using forward iterative techniques in the latter. This paper also contributes in giving a formulation for minimum fault magnitudes with invariant sets using an observerbased approach. Finally, an illustrative example is used to compare both approaches.
© <year>. This manuscript version is made available under the CCBYNCND 4.0 license http://creativecommons.org/licenses/byncnd/4.0/
20171113T16:40:47Z
Rahman Kodakkadan, Abid
Pourasgharlafmejani, Masoud
Puig Cayuela, Vicenç
Olaru, Sorin
OcampoMartínez, Carlos
Reppa, Vasso
This paper considers detectability of deviation of sensors from their nominal behavior for a class of linear timeinvariant discretetime systems in the presence of bounded additive uncertainties. Detectable sensor faults using interval observers are analyzed considering two distinct approaches: invariantsets and classical faultsensitivity method. It can be inferred from this analysis that both approaches derive distinct formulations for minimum detectable fault magnitude, though qualitatively similar. The core difference lies in the method of construction of the invariant set offline in the former method and the reachable approximation of the convergence set using forward iterative techniques in the latter. This paper also contributes in giving a formulation for minimum fault magnitudes with invariant sets using an observerbased approach. Finally, an illustrative example is used to compare both approaches.

Combined heat and power using high temperature proton exchange membrane fuel cells for comfort applications
http://hdl.handle.net/2117/110267
Combined heat and power using high temperature proton exchange membrane fuel cells for comfort applications
Sanz i López, Víctor; Costa Castelló, Ramon; Batlle Arnau, Carles
Global concerns about nowadays’ energy shortage problems as well as climate change eects have encouraged alternatives to classical energy sources such as fossil fuels and nuclear power plants. In this context, combined heat and power is presented as a useful option due to its ability of generating both electrical and thermal energy more eciently than conventional methods. Regarding this, high temperature proton exchange membrane fuel cells are not only a reliable way of implementing combined heat and power systems, but also a better solution in terms of energy conversion eciency and greenhouse gases emissions reduction. Therefore, high temperature proton exchange membrane fuel cells are being installed around the world and policies encouraging its utilisation are being promoted.
20171110T13:00:50Z
Sanz i López, Víctor
Costa Castelló, Ramon
Batlle Arnau, Carles
Global concerns about nowadays’ energy shortage problems as well as climate change eects have encouraged alternatives to classical energy sources such as fossil fuels and nuclear power plants. In this context, combined heat and power is presented as a useful option due to its ability of generating both electrical and thermal energy more eciently than conventional methods. Regarding this, high temperature proton exchange membrane fuel cells are not only a reliable way of implementing combined heat and power systems, but also a better solution in terms of energy conversion eciency and greenhouse gases emissions reduction. Therefore, high temperature proton exchange membrane fuel cells are being installed around the world and policies encouraging its utilisation are being promoted.

Distributed zonotopic setmembership state estimation based on optimization methods with partial projection
http://hdl.handle.net/2117/110133
Distributed zonotopic setmembership state estimation based on optimization methods with partial projection
Wang, Ye; Álamo Cantarero, Teodoro; Puig Cayuela, Vicenç; Cembrano Gennari, Gabriela
A distributed setmembership approach is proposed for the state estimation of largescale systems. The uncertain system states are bounded in a sequence of the distributed setmembership estimators considering unknownbutbounded system disturbances and measurement noise. In the framework of the setmembership approach, the measurement consistency test is implemented by nding parameterized intersection zonotopes. The size of the intersection zonotope is minimized by solving an optimization problem including a sequence of linear/bilinear matrix inequalities based on the weighted 2norm criterion of the generator matrix. Meanwhile, for the distributed setmembership estimators, the partial projection method is considered to correct the estimation of the neighbor state. On the other hand, an online method is also provided. Finally, the proposed distributed setmembership approach is veried in a case study based on a urban drainage network.
20171108T10:41:10Z
Wang, Ye
Álamo Cantarero, Teodoro
Puig Cayuela, Vicenç
Cembrano Gennari, Gabriela
A distributed setmembership approach is proposed for the state estimation of largescale systems. The uncertain system states are bounded in a sequence of the distributed setmembership estimators considering unknownbutbounded system disturbances and measurement noise. In the framework of the setmembership approach, the measurement consistency test is implemented by nding parameterized intersection zonotopes. The size of the intersection zonotope is minimized by solving an optimization problem including a sequence of linear/bilinear matrix inequalities based on the weighted 2norm criterion of the generator matrix. Meanwhile, for the distributed setmembership estimators, the partial projection method is considered to correct the estimation of the neighbor state. On the other hand, an online method is also provided. Finally, the proposed distributed setmembership approach is veried in a case study based on a urban drainage network.