Control Systems PDF

Non-linear Control Theory and Applications
in Power and Energy Systems
George Konstantopoulos
Control and Power Systems
Dept. of Automatic Control and Systems Engineering
The University of Sheeld
United Kingdom
George Konstantopoulos (The University of Sheeld)
Non-linear Control in Power Systems
Outline
Introduction
Model of some typical Power & Energy Systems
Non-linear control theory
Dissipative Hamiltonian form
Oscillator-based non-linear controller
Bounded integral controller (BIC)
Applications
DC/DC boost converter (energy storage, PV)

Wind power
Parallel operation of inverters
Grid-friendly inverters (Synchronverters): CAPS
Rectiers with limited current
Summary
Outline
Introduction
Applications

Wind power
Summary
Power systems
Increase of renewable energy systems penetration

Connection to the electrical grid through power electronic
devices (converters)
Power grid stability becomes fragile!
Conventional control techniques and linear systems analysis
enough
not
Control in Power Systems

Power electronics have high eciency. Power Grid stability lies
on the system operation and control.
Control
Bridge
Power
The need to create a bridge between 'automatic control' and

'power systems' communities
Accurate modelling of power systems
Advanced control design
Passivity - Stability
Non-linear control theory is essential!

Control
Bridge
Power


Control
Bridge
Power

Outline
Introduction
Applications

Wind power
Summary
DC/DC boost converter

u=0
L
i
u=1
+
v
PV, energy storage, wind, etc.

Regulation of the dc output voltage v to a
higher level than the dc input voltage E by
controlling the switch u .
Applications:
Aim:
Average model
Average modelling (u )
high switching frequency
duty-ratio = tTon
Li = (1 )v + E
1
C v = (1 )i v
R
where the control input is continuous-time and [0, 1].
The system is non-linear!

AC/DC or DC/AC converter

S1
D1
d1
Ua
Ia
Ub
Ib
Uc
Ic
S3
D3
d3
S5
D5
d5
Va
Vb
Vdc
Vc
S2
D2
d2
S4
d4
D4
S6
D6
d6
Average modelling
+
Park transformation (a b c
q)
RL
Average model
Lid = Rid + s Lid md
Liq = Riq s Liq mq
C V dc =
Vdc
2
Vdc
2
+ Ud
+ Uq
3
V
(md id + mq iq ) dc
4
RL
external uncontrolled inputs: grid voltages Ud , Uq

(constants, usually Uq = 0)
control inputs: duty-ratio signals md = 2VVdcd , mq = 2VVdcq
In order to operate the converter in the 'linear modulation'

(PWM):
md2 + mq2 1
Existing control techniques

Traditional techniques:
linearisation (small-signal model)
linear control (PI)
Advanced techniques:
non-linear techniques (passivity-based, feedback
linearisation) asymptotic stability
dependence from system parameters
Can we nd a non-linear parameter-free controller
with guaranteed closed-loop stability?
Outline
Introduction
Applications

Wind power
Summary
Generalised dissipative Hamiltonian form

DC/DC boost converter:
Li = (1 )v + E
1
C v = (1 )i v
R
M x = (J () R ) x + Gu

v T , is the control input and
where x = i
u = E is the
external uncontrolled input.

L
0
0
(1 )
M = 0 C , J () = (1 )
,R =
0

T
0 0
,G = 1 0
1
0 R
The system is passive w.r.t. the external uncontrolled input u

independently from Dynamic controller?
Non-linear control design

M x = (J (x , ) R ) x + G (x )u
Passive w.r.t. the constant uncontrolled input u
Control input is a saturated signal in the interval
(1, 1) or [0, 1)
Control task: Regulate state xi at xiref .
Oscillator-based non-linear controller:

= z1 + c

z1 =
0
k (xi xiref )
z2
k (xi xiref )
0
z1
z2

,
k >0
(1, 1): c = 0, z1 (0) = 1 + , z2 (0) = 0

1
[0, 1): c = 1
2 , z1 (0) = 2 , z2 (0) = 0
Non-linear control design

M x = (J (x , ) R ) x + G (x )u
Passive w.r.t. the constant uncontrolled input u
Control input is a saturated signal in the interval
(1, 1) or [0, 1)
Control task: Regulate state xi at xiref .
Oscillator-based non-linear controller:

= z1 + c

z1 =
0
k (xi xiref )
z2
k (xi xiref )
0
z1
z2

,
k >0
(1, 1): c = 0, z1 (0) = 1 + , z2 (0) = 0

1
[0, 1): c = 1
2 , z1 (0) = 2 , z2 (0) = 0
Controller operation
z2
B
1

,0
2
1
A=
j* *
a-
z1,
W(0)
W(0)
the control input is bounded in [0, 1 ]!

Closed-loop system stability

Closed-loop system:

Mx
= J (
x) R x
+G
with x =
T
x
M =
z1
J(x ) = 0
z2
T
R00
=0
, R
0 0,
G =
T
0 0 0
0
0
ref )
0 k (xi xi
k (xi xiref )
0
We keep the same passive structure!


The converter system and the controller system can
be handled independently:
converter system with [0, 1 ] is bounded
input-bounded output (BIBO) stable.
controller system is BIBO with zero gain!
(bounded output independently from the input)
closed-loop system is BIBO w.r.t. the external
input u .
Since u is constant, then the closed-loop system
solution is bounded in an area where the desired
equilibrium exists!
Unique equilibrium, no limit cycles convergence
to the equilibrium!

Traditional Integral controller for regulating a scalar function
g (x ) to zero:
Z
u (t ) =
g (x ()) d
which introduces a dynamic controller that can be written as
u
w
=
=
w
g (x )
Bounded Integral Controller (BIC):

u=w

2
w 2 + (wq b)

k
g
(
x
)
c
2
2
umax
w

w
=
2
2
2
w q
wq
(wq b)
u 2 g (x )c
k uw
+
2
2
max
b 0, k , umax , , c > 0.
max
Stability of ISpS plant systems

Consider a non-linear system: x = f (t , x , u , u1 )
u1
plant
BIC
g(x)
Proposition
The feedback interconnection of plant system with
the proposed BIC is ISpS, when the plant system is
ISpS.
ISpS: Input-to-state practical stability
The BIC introduces a zero-gain property.
BIC with given bound u [u
max
,u
max
umax
Normal conditions: b = 0, = 1, k > 0, c = u2wq (
2
max u )
where u is the nominal value of u .

Abnormal conditions: b = c = 1, k > 0 (suciently
large), > 0 (suciently small)
1+
1
1
u*
wq
wq
1
wq*
umax w
W0
umax
umax
Normal conditions
Abnormal conditions
Integrator replacement
Bounded integral control (BIC):
output
g(x)
upper bound
bounded
output
g(x)
steady-state
lower bound
BIC
normal conditions: slow down the integration near the

bounds
abnormal conditions: fail-safe operation
Outline
Introduction
Applications

Wind power
Summary
DC/DC boost converter control

L
i
E
u=0
u=1
+
v
Control task: Regulate the output voltage v at vref .

Using the oscillator-based non-linear controller:
1
= z1 +
2

z1 =
0
k (v vref )
z1
z2
k (v vref )
0
z2
small positive constant
k >0
initial conditions z1 (0) = 1
2 , z2 (0) = 0
George Konstantopoulos (The University of Sheeld) Non-linear Control in Power Systems
Results
simulation
experiment
24
22
output voltage (V)
20
LabVIEW
18
16
14
NI hardware
12
dc power
supply
dc/dc boost
converter
R-L load
10
0
0.5
1.5
2
time (sec)
2.5
1
0.8
X: 0.4
0.6
B Y: 0.4858
0.4
z2
0.2
0
A=
-0.2
-0.4
W(0)
-0.6
-0.8
-1
-1
-0.5
0.5
z1
3.5
Wind Power Application

ZLQG
WXUELQH
JHQHUDWRUVLGHFRQYHUWHU
S
JHDUER[
D
S
D
D
Vas
Vbs
Vdc
Vcs
S
Sa
6&,*
D
S
D
S
JULGVLGHFRQYHUWHU
S
D
Sb
D
Sc
Vag
Vbg
C Rdc
Vcg

Sa
D
D
Sb
D
Sc
D
XWLOLW\JULG
ia
Lg
Rg
Va
ib
Lg
Rg
Vb
ic
Lg
Rg
Vc
D
Generator-side converter control:

Maximum Power Point Tracking (MPPT)
Field-oriented control (FOC) of SCIG
Grid-side converter control:
dc-link bus voltage regulation
unity power factor (
Qg = 0)
Traditional control techniques: PI and cascaded PI control

(complete system stability has not been investigated yet)
Wind Power Application

ZLQG
WXUELQH
JHQHUDWRUVLGHFRQYHUWHU
S
JHDUER[
D
S
D
D
Vas
Vbs
Vdc
Vcs
S
Sa
6&,*
D
S
D
S
JULGVLGHFRQYHUWHU
S
D
Sb
D
Sc
Vag
Vbg
C Rdc
Vcg

Sa
D
D
Sb
D
Sc
D
XWLOLW\JULG
ia
Lg
Rg
Va
ib
Lg
Rg
Vb
ic
Lg
Rg
Vc
D

Maximum Power Point Tracking (MPPT)
Field-oriented control (FOC) of SCIG
Grid-side converter control:
dc-link bus voltage regulation
unity power factor (
Qg = 0)
Traditional control techniques: PI and cascaded PI control

(complete system stability has not been investigated yet)
Wind power system modelling

Complete wind power system modelling: SCIG dynamics +
ac/dc/ac converter dynamics
M x = J x , mds , mqs , mdg , mqg
x +u
where x = ids iqs dr qr r id iq Vdc T is the

T

is the
state vector, u = 0 Vm 0 0 23 Tm 0 0 0
uncontrolled external input vector.
Generator-side converter control inputs: mds , mqs

Grid-side converter control inputs: mdg , mqg
Wind power system modelling

M = diag

,,
1 1 2
Lr , Lr , 3 Jm , Lg , Lg , 3 C
Rr L2m + R
s
L2r
Rr L2m
Lr
0
0
0
0
0
0
J = Lm
Lr p qr
1m
2
ds
0
0
0
0
Rr L2m
L2r
+ Rs
Lm p
Lr dr
Rr L2m
0
0
0
0
0
Rr
L2r
Lr
Rr
L2r
0
0
0
0
2 mqs
Lr
Lr
0
0
1
Rr L2m
Rr L2m
0
0
0
0
0
0
0
0
p r
e L
0
0
0
0
0
0
0
0
e p r
Lr
0
0
0
0
0
0
0
0
0
2b
3
0
0
0
0
0
0
0
0
Rg
0
0
Lm p qr
Lr
LLm p dr
r
0
0
0
0
0
0
0
0
0
0
0
0
Rg
0
0
0
0
0
0
0
s Lg
1
2 mdg
0
0
0
0
0
0
03
2Rdc
0
0
0
0
0
s L g
0
1
2 mqg
1m
2 ds
1m
2 qs
0
0
0
1m
2
dg
1m
2
qg
Wind power system control

How can we control the complete wind power system
to achieve the desired operation and guarantee
stability?
use the same oscillator-based non-linear controller
for the duty-ratio inputs as in the case of the dc/dc
boost converter
The limits of the duty-ratio signals are not
independent:
m
2
2
ds + mqs 1,
2
2
dg + mqg 1

stability?
boost converter
independent:
m
2
2
ds + mqs 1,
2
2
dg + mqg 1

stability?
boost converter
independent:
m
2
2
ds + mqs 1,
2
2
dg + mqg 1

MPPT: regulate rotor speed r to rref
ref
FOC: regulate d axis stator current ids to ids
ds =
mqs =
z1
z2
z3
k1
k1

ids idsref k2
z1
z2
ref
k1 ids ids

0
k2 r rref

ref
r r
c1 z12 + z22 + z32 1
0
, k2 are non-negative constants
z1
z2
z3

The 3 controller states are attracted
and exclusively move on

the surface of the sphere Cr 1 = z1 , z2 , z3 : z12 + z22 + z32 = 1 .
0.5
Cr 1
1
z3
disk D
0
-0.5
0.5
0.
z2
0
-0.5
z1
-0.5
The duty-ratio inputs mds = z1 and mqs = z2 take values

2 + m 2 1.
inside the disk D , i.e. mds
qs
Real-time simulation results

r: [0.2pu/div]
iqs: [0.5pu/div]
iq: [0.5pu/div]
rref: [0.2pu/div]
ids: [0.5pu/div]
id: [0.5pu/div]
Vdc: [0.25pu/div]
vga: [1pu/div]
Pg: [0.5pu/div]
Pwind: [0.5pu/div]
Qg: [0.5pu/div]
iga: [1pu/div]
Power network - microgrid

A power network has a large number of buses:
The inverters can be assumed as voltage sources

to simplify the analysis.
Is non-linear control theory important in this case?

Basic control structure: Droop control
(non-linear structure of P and Q )
Accurate load modelling (linear, non-linear)
Linearisation and local stability is not enough
Is non-linear control theory important in this case?

Basic control structure: Droop control
(non-linear structure of P and Q )
Accurate load modelling (linear, non-linear)
Linearisation and local stability is not enough

i1
R1
L1
L2
vo
R2
i2
vr1
rC1
C1
load
iL
C2
rC 2
vr 2
Proportional load sharing:

Conventional droop control (i {1, 2}):
Ei = E ni Qi
i = mi Pi
=
vri = 2Ei sin (i )
cannot achieve accurate load sharing when inverters

introduce dierent output impedances.
Robust Droop Controller

i1
R1
L1
L2
vo
R2
i2
vr1
rC1
C1
load
iL
C2
rC 2
vr 2
Robust Droop Controller (RDC):
Ei = Ke (E Vo ) ni Qi
i = mi Pi
accurate load sharing
output voltage regulation near E
Linear/non-linear plant + non-linear controller
=Is the closed-loop system stable?
Robust Droop Controller

i1
R1
L1
L2
vo
R2
i2
vr1
rC1
C1
load
iL
C2
rC 2
vr 2
Robust Droop Controller (RDC):
Ei = Ke (E Vo ) ni Qi
i = mi Pi
accurate load sharing
output voltage regulation near E
Linear/non-linear plant + non-linear controller
=Is the closed-loop system stable?
Bounded droop controller (BDC)

Bounded droop controller (BDC):
RMS dynamics:
i = (Ke (E Vo ) ni Qi ) cE qi
qi = (Ke (E Vo ) ni Qi ) cEi
where c is a positive constant.

frequency dynamics:
i = ( mi Pi ) z qi ,
z
qi = ( mi Pi ) zi .
= vri = 2Ei zi
z
BDC operation
RMS voltage dynamics
Eqi
frequency dynamics
zqi
starting point
Eqi 0
desired steady-state
equilibrium point
i Vi
j*
starting
point
a- E *
i
Ei
j*
rotating with
angular velocity
equal to i
a-
zi
Wi 0
i = (Ke (E Vo ) ni Qi ) c
i = mi Pi
i , Eqi [Vi , V
i]
[
zi , zqi
1, 1]
Therefore vri = 2Ei zi 2Vi , 2Vi BDC
Real-time simulations (non-linear load)

BDC
RDC
P2: [400W/div]
P2: [400W/div]
P1: [400W/div]
P1: [400W/div]
Q1: [400Var/div]
Q1: [400Var/div]
Q2: [400Var/div]
Q2: [400Var/div]
vo: [200V/div]
vo: [200V/div]
i1: [10A/div]
i1: [10A/div]
i2: [10A/div]
i2: [10A/div]
Real-time simulations (non-linear load)

BDC
Eq1: [200V/div]
E1: [200V/div]
zq1: [1/div]
z1: [1/div]
Grid-friendly inverters (Synchronverters)

( = 0 )
Rotor field axis
Rs , L
Rotation
Field voltage
Rs , L
Rs , L
Synchronverter parts
Power Part
+
Rs, Ls
VDC
ea
eb
ec
Rg, Lg
Circuit
Breaker
ia
va
ib
vb
vgb
ic
vc
vgc
vga
C
-
Control Part
R
a
a
DC
b
Reset
Pset
Tm
1
Js
Te
a
DC
1
Ks
Qs
M f if
e
i
Vn
b PWM
generation
c
Dq
c
a
Formulas
of Te, Q, e
b
Qset
1
s
Vg
From\to the power part
Dp
Synchronverter control and stability

Stability is still not proven!
Can we guarantee system stability while maintaining
the synchronverter original operation?
Solution: Use BIC for the integrators of the frequency
and the eld-excitation current if loops.
Guarantee specic bounds for the synchronverter
voltage and frequency according the its technical
limits:
E
[Emin , Emax ] and [n max , n + max ]
Guarantee convergence to the desired unique

equilibrium
Synchronverter control and stability

Stability is still not proven!
Can we guarantee system stability while maintaining
the synchronverter original operation?
Solution: Use BIC for the integrators of the frequency
and the eld-excitation current if loops.
Guarantee specic bounds for the synchronverter
voltage and frequency according the its technical
limits:
E
[Emin , Emax ] and [n max , n + max ]
Guarantee convergence to the desired unique

equilibrium
Real-time simulation results

Ps: [50W/div]
Qs: [500Var/div]
fg-fn: [0.1Hz/div]
f-fn: [0.1Hz/div]
Time: [5s/div]
Time: [5s/div]
va: [10V/div]
E: [0.5pu/div]
V-Vg: [0.5V/div]
iga: [10A/div]
Time: [5s/div]
Time: [20ms/div]
Completely Autonomous Power Systems (CAPS)
Big step for guaranteeing stability of CAPS!


A fundamental problem in control systems is that closed-loop
system stability is not guaranteed even if the plant is BIBO.
Bounded?
reference
+
error
Controller
controller
output
BIBO
Plant
plant
output
Sensor
The BIC can guarantee a bounded input for the plant

independently from the error signal (zero-gain property).
However, a given bound for a state of the plant (e.g. current)
is not guaranteed.
Can we design such a controller?

Bounded?
reference
+
error
Controller
controller
output
BIBO
Plant
plant
output
Sensor

is not guaranteed.

Bounded?
reference
+
error
Controller
controller
output
BIBO
Plant
plant
output
Sensor

is not guaranteed.
Single-phase rectier with limited current

i
vs
L
u
+
v
-
di
dt
dV
CVdc dc
dt
L
RL
= ri v + vs
=
vi
Vdc2
RL
Control tasks:
ref
dc output voltage regulation at Vdc
unity power factor operation (ac side)
Control input: converter voltage v
iL
+
Vdc
Traditional control of rectiers

i
L
u
+
v
vs
iL
+
vdc
RL
Hysteresis
current control
-
sin(t)
PLL
I*
vdcref
PI
Outer-loop PI controller for voltage regulation

Inner-loop Hysteresis controller for current control
stability and a given limit for the input current are not
guaranteed, requires a PLL
Current limiting non-linear controller

Current limiting non-linear controller (CLNC):

v (t )

w
w q
w (t )i (t )
"
cw
w 2q
max
ref
Vdc Vdc
Vdc Vdcref
2
k (www2m ) + wq2 1
max
cwq

#
w wm
wq
with c , k , wm , wmax > 0.

ref , then
If the output voltage Vdc is regulated at Vdc
and
w = w
v (t ) = w i (t )
which guarantees unity power factor at the input of
the rectier.
Experimental results
normal operation:
Vdcref
= 90V 115V
Vdc
(ripple)
Vdc
vs
vs
i
Time: [100ms/div]
Time: [10ms/div]
current limit with
Imax = 4A:
Vdcref = 90V 140V

Vdc
(ripple)
Vdc
vs
vs
i
i
Time: [10ms/div]
Time: [100ms/div]
Outline
Introduction
Applications

Wind power
Summary
Summary
Stability and advanced operation of power systems
require:
accurate system modelling (average analysis
dissipative Hamiltonian structure)
non-linear control design (parameter-free)
Bounded integral controller
Non-linear system analysis

Passivity analysis
zero-gain property of the controller
convergence to the desired equilibrium
Control applications
Power converters
Renewable energy systems (wind, solar, etc.)
many more...
Non-linear control theory can change the way power

systems have been treated so far!
Control applications
Power converters
Renewable energy systems (wind, solar, etc.)
many more...
Non-linear control theory can change the way power

systems have been treated so far!

Control Systems PDF

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Control Systems PDF

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Non-linear Control Theory and Applications

in Power and Energy Systems

George Konstantopoulos (The University of Sheeld)

Non-linear Control in Power Systems

DC/DC boost converter (energy storage, PV)

Non-linear Control in Power Systems

DC/DC boost converter (energy storage, PV)

Non-linear Control in Power Systems

Increase of renewable energy systems penetration

George Konstantopoulos (The University of Sheeld)

Non-linear Control in Power Systems

Control in Power Systems

The need to create a bridge between 'automatic control' and

George Konstantopoulos (The University of Sheeld)

Non-linear Control in Power Systems

Control in Power Systems

The need to create a bridge between 'automatic control' and

George Konstantopoulos (The University of Sheeld)

Non-linear Control in Power Systems

Control in Power Systems

The need to create a bridge between 'automatic control' and

George Konstantopoulos (The University of Sheeld)

Non-linear Control in Power Systems

DC/DC boost converter (energy storage, PV)

Non-linear Control in Power Systems

DC/DC boost converter

PV, energy storage, wind, etc.

George Konstantopoulos (The University of Sheeld)

Non-linear Control in Power Systems

The system is non-linear!

Non-linear Control in Power Systems

AC/DC or DC/AC converter

Non-linear Control in Power Systems

external uncontrolled inputs: grid voltages Ud , Uq

In order to operate the converter in the 'linear modulation'

Non-linear Control in Power Systems

Existing control techniques

Non-linear Control in Power Systems

DC/DC boost converter (energy storage, PV)

Non-linear Control in Power Systems

Generalised dissipative Hamiltonian form

The system is passive w.r.t. the external uncontrolled input u

George Konstantopoulos (The University of Sheeld)

Non-linear Control in Power Systems

Non-linear control design

(1, 1): c = 0, z1 (0) = 1 + , z2 (0) = 0

Non-linear Control in Power Systems

Non-linear control design

(1, 1): c = 0, z1 (0) = 1 + , z2 (0) = 0

Non-linear Control in Power Systems

the control input is bounded in [0, 1 ]!

Non-linear Control in Power Systems

Closed-loop system stability

We keep the same passive structure!

Non-linear Control in Power Systems

Closed-loop system stability

George Konstantopoulos (The University of Sheeld)

Non-linear Control in Power Systems

Bounded integral controller (BIC)

which introduces a dynamic controller that can be written as

Bounded Integral Controller (BIC):

George Konstantopoulos (The University of Sheeld)

Non-linear Control in Power Systems

George Konstantopoulos (The University of Sheeld)

George Konstantopoulos (The University of Sheeld)

George Konstantopoulos (The University of Sheeld)

George Konstantopoulos (The University of Sheeld)

George Konstantopoulos (The University of Sheeld)

George Konstantopoulos (The University of Sheeld)

George Konstantopoulos (The University of Sheeld)

George Konstantopoulos (The University of Sheeld)

George Konstantopoulos (The University of Sheeld)

George Konstantopoulos (The University of Sheeld)

George Konstantopoulos (The University of Sheeld)

George Konstantopoulos (The University of Sheeld)

George Konstantopoulos (The University of Sheeld)

George Konstantopoulos (The University of Sheeld)

George Konstantopoulos (The University of Sheeld)

George Konstantopoulos (The University of Sheeld)

George Konstantopoulos (The University of Sheeld)

George Konstantopoulos (The University of Sheeld)

George Konstantopoulos (The University of Sheeld)

George Konstantopoulos (The University of Sheeld)

George Konstantopoulos (The University of Sheeld)

George Konstantopoulos (The University of Sheeld)

George Konstantopoulos (The University of Sheeld)

George Konstantopoulos (The University of Sheeld)