Sharif Digital Repository

Objective: The objective of this paper is to develop a hierarchical two-level power system load frequency control. Design: At the button level, standard PI controllers are utilized to control area's frequency and tie-line power interchanges. At the higher layer, model predictive control (MPC) is employed as a supervisory controller to determine the optimal set-point for the PI controllers in the lower layer. The proposed supervisory predictive controller computes the optimal set-points such that to coordinate decentralized local controllers. Blocking and coincidence point technology is employed to alleviate the computational effort of the MPC. In order to achieve the best closed loop... 

Online voltage security assessment is necessary to choose appropriate remedial and corrective actions in order to prevent a large-scale blackout. This paper presents a new online voltage security assessment method based on wide-area measurements and decision-tree algorithm. For the predicted load and generation variation scenarios (i.e., a day ahead), the database is obtained using continuation power flow. Moreover, each operating point is labeled as 'secure' or 'insecure' from voltage stability points of view based on WECC voltage security criteria. Decision trees are trained on the subset of the existing data by applying two famous splitting rules and various predictors. Bagging and... 

In smart grid research and particularly Offshore Wind Farms (OWFs), employing wireless data communications as a reliable technology for Supervisory Control and Data Acquisition (SCADA) communication between wind towers is of great interest. This paper introduces the Ultra-Wideband (UWB) communication system based on Pulse Position Modulation (PPM) for this intention. In this work, the UWB link is modeled in WOFs and performance of the UWB link subject to several metrics such as range-data rate, range-bit error rate (BER), and path loss are systematically and arithmetically assessed. The results prove UWB system as a promising inexpensive, but high performance approach for wireless SCADA... 

This paper presents a supervisory multi-agent control policy over an acoustic communication network subject to imperfections (packet dropout and transmission delay) for localisation of an underwater flow source (e.g., source of chemical pollution, fresh water, etc.) with an unknown location at the bottom of the ocean. A two-loop control policy combined with a coding strategy for reliable communication is presented to perform the above task. A simulator is developed and used to evaluate the trade-offs between quality of communication, transmission delay and control for a fleet of autonomous underwater vehicles supervised over a noisy acoustic communication network by an autonomous surface... 

Utilisation of reliable communication technologies for data communication is a key challenge in smart grids. Due to specific characteristics of offshore wind farms (OWFs), wireless data communications is of interest for supervisory control and data acquisition (SCADA) communication between wind towers. The ultra-wideband (UWB) communication technology is one of the state-of-the-art communication technologies suitable for inexpensive, low-data rate, outdoor, long-range, communication applications. However, in order to employ it in OWFs, its link modelling and performance must first be well analysed comprehensively. In this paper, the UWB communication channel is modelled in OWFs and with... 

In a linear accelerator, driven by radio frequency (RF) amplifier stations, one must precisely control the energy gain of the accelerating beam. The RF stations can be viewed as amplifiers placed sequentially to accelerate the beam. This brief presents two control schemes within which the RF stations act as actuators, and a centralized control unit controls the beam energy by acting either on the RF amplitudes or on the RF phases. The control algorithms are based on convex optimization problems with different objectives. The two approaches are successfully tested at the SwissFEL injector test facility using three full-scale RF stations. The two methods are compared from both performance and... 

This article presents a robust adaptive fractional order proportional integral derivative controller for a class of uncertain fractional order nonlinear systems using fractional order sliding mode control. The goal is to achieve closed-loop control system robustness against the system uncertainty and external disturbance. The fractional order proportional integral derivative controller gains are adjustable and will be updated using the gradient method from a proper sliding surface. A supervisory controller is used to guarantee the stability of the closed-loop fractional order proportional integral derivative control system. Finally, fractional order Duffing–Holmes system is used to verify... 

In this paper, an indirect adaptive fuzzy sliding mode controller for a 3-dimensional inverted pendulum as a fully actuated MIMO system is developed. This inverted pendulum, has four degrees of freedom and equations of the system are nonlinear and non-minimum phase. Thus, control of this system is a challenging issue. Accordingly, in this work, general basis of sliding mode control method with reaching rules is expressed for this system, then the fuzzy control theory is combined, and modeling uncertainties of the system are estimated by universal fuzzy approximation theory. Controller parameters are updated by a defined adaptation law to decrease the tracking error of the inverted pendulum.... 

Rhythmic activities such as swimming stroke in the human body are learnable through conscious trainings. Inspiringly, the main objective of this study is to develop a control framework to reproduce the described functionality in the imitating robots. To do so, a two layer supervisory controller is proposed. The high-level controller, which acts as the conscious controller during trainings, is a supervisory dynamic-based controller and uses all system sensory data to generate stable rhythmic movements. On the other hand, the low-level controller in this structure is a distributed trajectory-based controller network. Each node in this network is an oscillatory dynamical system which has the... 

Power sharing control among grid forming dc sources employing a conventional voltage droop approach meets inaccurate load sharing and unacceptable voltage regulation performance. Thereby, communication-based secondary and supervisory controllers have been presented to overcome the aforementioned issues. Furthermore, with the aim of eliminating communication system, frequency-based droop approaches have been introduced for low-voltage dc grids where the frequency of the superimposed ac signal onto the dc voltage is proportional to the output power. However, in reality, dc grid structures can be applied to medium and high voltage applications with different X/R ratios. This paper generalizes... 

Anaerobic digestion (AD) is a green technology that has been applied for many years. One of the main problems in this process is controlling these bioreactors to maximize methane production. A supervisory control strategy has been proposed to improve the methane production rate in an anaerobic digestion process while minimizing the risk of process failure in the presence of several drastic feedstock changes. The inner loop consisted of a feedback control that manipulated the feed flow rate for achieving the desirable methane production rate. A rule based control strategy was used as supervisory control loop. This controller received the total volatile fatty acids concentration in the reactor... 

The well-known ant colony optimisation (ACO) meta-heuristic is applied to optimise the parameters of a new fuzzy command to lineof-sight (CLOS) guidance law. The new guidance scheme includes two phases, a midcourse and a terminal phase. In the first phase, a lead strategy is utilised which reduces the acceleration demands. A proportional derivative (PD) fuzzy sliding mode controller is used as the main tracking controller of the first phase. Moreover, a supervisory controller is coupled with the main tracking controller to guarantee the missile flight within the beam. In the terminal phase, a pure CLOS guidance law without lead angle is utilised. For this phase, a new hybrid fuzzy... 

Purpose - The purpose of this paper is to propose a supervisory command-to-line-of-sight guidance law with lead angle which keeps the missile flight within the tracking beam. Design/methodology/approach - A nonlinear supervisory controller is designed and coupled with the main sliding mode controller in the form of an additional control signal. The supervisory control signal is activated when the beam angle constraint goes to be violated. Initially a supervisory controller is designed using nonlinear control theory. Subsequently the main tracking controller is designed using sliding mode approach which forces the missile to fly along the desired line-of-sight. The stability of the... 

In the present work, a fuzzy supervisory control approach combined with an adaptive model predictive controller (AMPC), has been proposed to maximize the productivity of an anaerobic digestion (AD) process, while keeping the operation stable. In the proposed hierarchal control strategy, the set-point of the inner loop is provided by a supervisory controller. In the inner loop an AMPC has been applied to achieve the desired methane production rate by manipulating the feed flow rate. The AMPC is designed based on the auto-regressive moving average (ARMA) model whose parameters are updated at each sampling time to make the controller more robust against uncertainties and external loads. In the... 

On-line optimization for the base case of the Tennessee Eastman (TE) challenge problem is presented; furthermore, an interesting operating condition near base case has been obtained, which results in a lower cost function. The proposed method is based on the estimation of the internal states and the time varying parameters of the process model based on an Extended Kalman filter. The sequential quadratic programming method has been used to accomplish the non-linear programming (NLP) task. The objective function is the operational cost while the constraints are the reactor mass balance, safe operation of the process equipment, and the conditions that satisfy the product quality and flow. The... 

In this paper, the concept of coordination is introduced within the framework of two-level large-scale systems and a new approach based on Interaction Prediction Principle is presented. The proposed approach is formulated in an intelligent manner in such a way that it provides a new strategy that can be used to synthesize an on-line supervisory controller for the overall two-level large-scale systems, extendable to multi-level control systems. By using the new methodology which is based on using neural network for modeling each sub-system, typical gradient method for optimization of first-level sub-problems, and the gradient of the interaction prediction errors related to the predicted...